Use the Ball Joint node for 3D components to create a joint between two components such that they are free to rotate relative to each other about all three axes at the center of joint.

The Constraints, Locking, Spring and Damper, Prescribed Motion, Applied Force and Moment, and Friction subnodes can be added to modify the properties of the joint.

Enter values or expressions for the Source axis pointing toward center of joint e0 and Destination axis pointing away from center of joint ed0. The default is (1, 0, 0) for both axes.

Physics tab with Multibody Dynamics selected:
Global>Joints>Ball Joint