>>415420865
>>415421171
Method to solve that is called "Twist Bones" - combination of additional bones and Constrainst, here's a 
Video Tutorial by AirPaca: https://youtu.be/eOwd5KNypfA
And text-Gif Tutorial by absolute-quantum: https://github.com/absolute-quantum/cats-blender-plugin/wiki/5-Minute-Twistbones
If neither works for you, would recommend to just google "TwistBones", there's plenty of guides