how do i make a joint use its local rotate axis instead of world rotate axis?

the thing is, when i rotate my arm normally the hand stays in the same direction. however when i keyframe it, then roate the arm, the hand stays in the same orientation with the world and just moves with the arm, instead of staying with the same orientation with the world.

also, i havent deleted history or frozen transformations because im afrtaid of needing to do little changes like this. should i delete/freeze?