jeebroniz here's what rojo said about the joint part of your question:
[quote:2o3yi1ny]According to the chipmunk forums the way to join two objects together is with two joints. A pivot and a gear joint. I apologize fo the seeminly complicated formula used for the phase of the gear joint. It's the signed angle difference between the two object angles. angle(0,0,cos(a-b),sin(a-b))
This is the capx he posted:
The easy way to disable collisions between the two objects while still keeping their physics collisions with other objects active is to set their collision group property to the same non-zero value.