Hi JW,
Yes it is possible. Follow me:
A. First of all create a coordinate system in the feature of the part where you install the cylindrical part or in assembly. The coord sys must be, after installation of the part we discuss, alligned with the cylindrical part's axis (let's say z-axis to be along cylindrical part's axis).
B. Install your cylindrical part using conventional methods (insert/align-mate or coord-sys to coord sys if the cylindrical part has one).
C. (FUNNY PART) From the assembly main menu choose: MODIFY -> MOD ASSEMBLY -> MOVE -> pick the coord-sys you createad at STEP A ->pick the cylindrical part you want to rotate -> choose ROTATE from the MOVE menu -> choose the axis you want to rotate about, from the ROTATE DIR menu -> enter the angle desired ->DONE ->DONE and that all.
D. Regenerate!
Now the funny thing is now if you choose MODIFY and ckick the part, PRO/E will show you a new angular dimension you just created at STEP C. You can modify anytime this dimension and the part will rotate.
I think this is one of the most powerful functions of PRO/E.
The only negative thing about this is that if you decide to re-install the part in your assembly, then the angular dimension will be lost. You must redo the STEP C.
Hope I was able to clarify you and to give you the best and the nicest solution!
-Hora