Spherical Parallel Manipulator in SolidWorks

I am drawing in SolidWorks a 3D arc with two holes on the edges. An axis of rotation passes through the center of one of these holes, around which the arc rotates according to an arbitrary law.

I want to learn how to display nice and informative reference geometry. In this case, I need to depict: the axis of rotation, a vector (for example, U) co-directional with it, the center of mass, etc. Something like this:

How is it done in SolidWorks?