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This option doesn't work. When the object moves, the arm moves, to which I tied a small cube to indicate the attachment point. The sword is attached to the arm at x,y,z coordinates, but I need it to get the angle of the cube I attached to the arm so that the sword repeats the motion of the arm.

Are you doing to equip different weapons for a character? One way that I and others have solved this in the past is to add all the possible weapons to the model as different nodes/meshes. You then enable or disable the weapon nodes/meshes depending on what weapon is equipped. It works well and the performance is good, because only the enabled weapon is rendered.