Actually the help in SW should be all you need:
Equations Creates mathematical relations between model dimensions, using dimension names as variables. When using equations in an assembly, you can set equations between parts, between a part and a sub-assembly, with mating dimensions, and so forth.
What this means in practice is that to relate two components (parts) in an assembly you double click the feature in the first part to show its dimensions and select one of the dimensions. Then from the Tools menu pick equations and pick add. That dimension should be automatically placed in the equation editor. Then double click a feature in the second component and highlight its dimensions and click on the one you want in the equation. Then complete the equation.
In order for this to work both the parts and the assembly have to be loaded in memory.