mechanical simulation Rhino or other

I have to develop a mechanical construction with rotatable gears, levers etc.
I need to be able to create a model where I can move one piece and all connected pieces will react by themselves so that I can control and optimize the whole mechanical system.
Would be perfect if I could use Rhino. Many people suggested using Grasshopper + Kangaroo. But at this moment I have no experience with Grasshopper.
Maybe you know any plug-in to Rhino or a better program to create a 3D model (CAD) with feature like that?