Without imagepoints you'll need 3 variables. Two for the positional offset from the center of the parent object and one for the angle difference.
For the positional offset you can either save it in rectangular (x,y) or polar(angle, distance) coordinates.
For rectangular:
every tick:
--- set child position to parent
--- child: move child.dx pixels at parent.angle degrees
--- child: move child.dy pixels at parent.angle+90 degrees
--- child: set angle to parent.angle+child.angdiff
For polar:
every tick:
--- set child position to parent
--- child: move child.dist pixels at parent.angle+child.ang degrees
--- child: set angle to parent.angle+child.angdiff
To calculate the offset it's probably easier to use polar.
set child.ang to angle(parent.x,parent.y,child.x,child.y)-parent.angle
set child.dist to distance(parent.x,parent.y,child.x,child.y)
set child.angdiff to child.angle-parent.angle