Rotate, slide and translate

I am trying to simulate (serious game) the movements we see in a jaw. The TMJ is a complex system in nature. Basically, we have two articulations (they are interdependent but for the sake of this discussion you can consider them independent). Each are based on a ball inside a concave cavity. The ball can rotate in two directions as well as slide forward (and backwards a bit) away from the center of the concavity. This gives us the masticatory movements that I intend to mimic. My animations do not depend on gravitational elements but will have to have defined restrictions on all of these movements. I am finding impossible to rig this and would like a suggestion.
Thanks in advance