You can set up an Object Group for different objects in order to use each object's pivot when animating it. 

1. To animate a group you have to open the groups window and select the group. 

2. All selection outlines will show in orange. 

3. Once the group is selected you can add it to the timeline through the usual process for objects. 

4. Keep in mind the objects in the group will still use the hierarchy that is in place.