How to rotate object about 2 axes (vertical y and depth z) using configurable joint.

Hello! I am trying to to build a boat rowing simulation in unity. The boat has 2 u-rings, one on each side. I am trying to attach a paddle/oar to each of the u-rings so that I can achieve rotation of the paddles about a joint on the u-ring. The paddles must be able to rotate about the vertical y axis and the depth z-axis while still maintaining attachment to the pivot point (u-ring). I have tried to use a configurable joint but am unable to achieve smooth motion of the paddles in both of these axes. Currently, it only rotated about the vertical y axis (pulling the paddles front and backward). I am building this using the vrtk toolkit for the HTC vive platform. I want to be able to achieve a simulation so that the paddles can be grabbed and used (rowing motion while remaining attached to joint) using the vive controllers when the person is seated on the boat. Ultimately, I want to be able to move the boat using forces based on both paddles' movement. The boat, the paddles and the u-rings are currently rigidbodies.

The 2 areas I'd love clarity on is 1. How to achieve smooth motion of the paddles about the vertical y and z axes while maintaining attachment to joint. 2. Motion of the boat (parent game object) based on the movement of the paddles using the controllers.