Animating drawings motion easily

is there any way i can avoid drawing each and every frame and just set a starting and ending point for a drawing and let the body part just move by itself accordingly?

You can do this by using the Cutout animation technique. This involves drawing all of the body parts on different layers and animating them separately.

You can also use the new bone rigging system. The advantage of this one is that you do not have to cut up your character in as many pieces and that the joints are better handled.

There are many good tutorials on cutout animation: