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If you use a ball joint to constrain the object at its centre then you can key frame it and it will rotate around the joint.
To easily find the centre of your object turn grid on and press L1 + triangle to set the grid reletive to that object. If it was made on the grid then you should be able to increase the grid size and see the centre clearly, even if the object has been moved off grid.
You can also use a rotator gadget and it will always rotate around the centre of mass. This might not be helpful in all situations though.
Hope this is helpful :) Peter