I agree with Karin that your question is somewhat ambiguous. To expand a bit on Karin’s suggestion for internal & external rotation of the glenohumeral joint, I suggest that the humerus be abducted to 90 degrees with the internal/movements resisted with theraband or some other type of elastic resistance, rather than weights. My recommendation is that the exercises be done in either a seated upright or supine posture on a flat bench.
I suspect that for most clients circumduction (so-called) movements are more important for ROM than for strength.
I am not quite sure what it is you are looking for. Circumduction is usually associated with the hip, shoulders and thumb while rotation occurs to some degree in many joints in the body.
The first rotation exercises to come to mind are the internal and external rotation exercises of the shoulder. Something similar is possible at the hip even though more awkward and difficult to isolate. There are plenty of torso rotation exercises such as Russian Twist.
For circumduction, the choice to my knowledge is more limited when you look for circumduction without other movement at the same time. I can only think of arm and leg circles such as in Pilates. There may be some in Gyrotonics as well.