You have multiple options, depending on what effect you're after. I don't think you'll be able to do it with just a single SCNBox
, though.
You can design your object in a 3D tool like Blender, Maya, or Cheetah3D. Create an animation within that tool, export the model to Collada/DAE format, and display it in SceneKit. You can then play the animation by name.
You might also be able to use the morphing API. That's slide 34 of the WWDC 2014 SceneKit sample code. The live session is Session 610.
Inverse Kinematics could work for you if you want the end of your stick to touch a particular point. That would involve building IK into your Collada file, or constructing the object programmatically using physics joints.
None of these approaches are beginner-level techniques.