1.Set MAYA to display the bones local rotation axis.
-highlight the bone at the top of the chain and type into the command line: select -hi; (this selects all of the bones in the chain)

-next, go to display->component display->local rotation axis (do the same steps to hide them when you are finished)

-go into component mode and turn on select by type: misc.

This will allow you to now select and rotate the bones axis with the rotation tool. Click to view demo.