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Re: constraints in assemblies
*Warning* I have never used Inventor.
Anyways, I would assume that if you made planes concentric between the assembly and the pencil (right & right, front & front) then it would automatically align itself in the direction you want it.
As far as the point (tip of pencil) to the 3rd plane (top), then you would be able to mate it and everything should be good and you would get your preferred 3rd axis constraint.
I use Solidworks, and this is how I would do it. I don't know if Inventor would do the same thing terminology wise (ie: mate vs contraint) but the concept should be there.
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