Yes, Pencil 2D is a great starter software for beginners. If you want to have experience in animation, Pencil 2D will help you understand the basics of creating frame-per-frame animation. Using a drawing tablet to illustrate every frame is recommended to create seamless animation.

Animating frame by frame on paper is a great alternative for people who don't have access to expensive animation software. In the above demonstration I outline the process of making a rough in between drawing and then taking it further.

Moho prides itself for being intuitive, and they have made an effort to make rigging a much less daunting task, but there's still a lot to learn to best implement their tools. While the more simple rigs are easy to set up, you'll have to dig deep to use all of its smart tools for creating more complex rigs.

Pencil2D is completely open source and free to use, even commercially!