Swinging your arms would be the rotating movement for your shoulder joint. Each joint should be rotated before the muscles attached to it are stretched, I was told. So I usually just start at the neck, by rotating the head. First 10 seconds clockwise, then 10 seconds counterclockwise. After that shoulders (arm swinging back and forth), elbows (swinging the underarm), wrists (rotate the hands), spine (upper body rotating), hips (rotate the midsection), knees (looks like skiing) and ankles. It feels nice, you basically loosen up all the muscles before stretching.