Moving "elements" of a 3D model

Hello,

Prefix: I am very much new to 3d modelling and programming. I
appreciate that this maybe somewhat off topic.

I was wondering if anyone has recommendations as to an easy method of
moving elements of a 3D model. For example a rudder on a plane. I have
written my own 3ds file format parser and openGL renderer which works
for static models, so i could have a model of a plane, and then
individual models for each of the "moveable" elements.

Using this approach i believe that this would require that the axis of
rotation etc would need to be hardcoded into the source code for each
of the moveable items. It seems to me that it would be better for all
of that information to be contained in the model and for the
sourcecode to specify a angle for each rotation.

Is there a better way? Possibly a different file format and maybe a
"game" engine. Unfortunately i dont really know what to search for on
the net.

Thoughts/Recommendations appreciated.

Jason