Some ideas for Exercise   
For all joint ailments, swim therapy is highly recommended.  With Yorkies being so small, often times your bath tub can be effectively utilized for this exercise.  
You can use an underwater treadmill if there is a rehab place near to you.  
In the summertime a kiddies pool or if you live near a lake, a lake   
Joint supplements can be utilized as well   
Keeping your dog's weight at a healthy level is also important.    
Massaging of the muscles of the legs is effective as well  Particularly after exercise   
To build up the muscles of the legs, in order to help stabilize the joint, walking your dog in sand is beneficial, and then followed by a nice dip in the pool.      
Cautions with:  Jumping up and down     Agility sports    Flyball     
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