You're over thinking it. It only needs to move +/-45 in one plane. Weld a hinge to the wall above the sink. Suspend the sink from the hinge. The radius can be determined by how much flex hose you want to purchase for the drain and supply lines.
The same should work for toilets and showers.
Run all your drain piping toward the corner of the ship that's always under water.
Install these on your showers.
http://d2ydh70d4b5xgv.cloudfront.net/images/2/7/shower-head-...
You might want to let things move more than +/-45 or install pins to lock stuff. Taking a crap in rough seas could get weird when you and the toilet can stay level as the ship moves but only in one direction.
It all comes down to weight vs tolerance for squeaks and rattles. Maintenance should be in the same ballpark. Greasing hinges and more flexible plumbing/wiring/infrastructure to worry about is probably not much worse than twice as much everything.