How to change the orientation of joint origin to join two cylinders, pipes, tubes at 90 degrees

[123megamind]

An example is two cylinders and I want to create a rigid joint to mate them at 90 degrees without creating planes or other constructions. There seems to be a way to rotate a newly created joint origin but never in the way to flip to a new plane so I can never get a 90 degree. Can't get a ball joint to make it work either.

[davebYYPCU]

You will need a Joint Origin, with re-orientate Z axis in the beam pipe.  The down leg is std.

Might help....