How to create Rigid links using Center of gravity and Moments of Interia in Ansys WB?

Hello,

I am new to Ansys workbench. I need to analyse Rigid Body dynamics using a cross of two Rigid links attached to flexible D shaped 2d sketch. The dimensions which I have are just centre of gravity of these two rigid links and Principal moment of Inertia.:p Can you guys please help me on how to proceed with it?

Regards,

Bruce