PVC Angles and Joists

My kitchen sink drain line currently drops vertically into the basement below the joists and then angles off to the main line. I plan to frame in the room below the kitchen and need to run the drain line through the joists. I only need to run 35 inches, and a 22 degree elbow give me enough more then enough room. My question: What is the best way to line up a 2 inch hole at 22 degrees across 3 joists? And what is the best drill to accomplish this? Thanks Attachment 50097 (http://www.doityourself.com/forum/attachments/plumbing-piping/50097-pvc-angles-joists-kitchen-sink-drain-b.jpg)Attachment 50098 (http://www.doityourself.com/forum/attachments/plumbing-piping/50098-pvc-angles-joists-kitchen-sink-drain-.jpg)