Can you animate a joint without it having any effect in the physics world?

edit

I am trying to animate some parts of a drone without them having any consequence in the physics world.

For instance, let's say I'd like to animate the four propellers of my drone, I could attach an animation to the model with SetJointAnimation for each propeller to make them rotate around their axis. The problem is that when the drone is dropped from a few meters, the constantly moving propellers slow the fall of the drone down. How can I prevent that?