Hi
I have attached a maya scene file with a simple vehicle rigged with a set up using utility nodes.

The rig is not completed but if you look in the hypergraph you should see how the nodes have been connected. If you want I can try and knock up a mel script to do something like this, but the translation/rotation has not been fully tested so I am not sure if it works in all directions as required. The sphere acts as a rig controller.

The way to do this is if you have an expression that works print it out and then use utility nodes to mimic the expressions formulas.