Animate 2D objects (how to?) with Open GL ES 2

I have a design prototype in attachment. (see shake.jpg)
It has 3 objects connected with straight line each other.
Now i want to make it more interactive and beautiful. How can i make animation for this objects.
What i want to achieve:

  1. Objects are shaking or moving near area where they are located
  2. Each of three lines always connects objects with each others
  3. What is the main steps to implement this?