If you're looking to animate your 2D character art, Synfig Studio is an excellent choice. It's free open source software which features the ability to rig a skeleton to make it convenient for you to animate it. One problem you may have run into is that the official YouTube video tutorials for Synfig are for an earlier version of the software and therefore the instructions for creating a new child bone won't work in Synfig 1.5.1.
Here is a step by step illustrated tutorial for how to set up a skeleton and create child bones in Synfig 1.5.1
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