There are a number of formulations that contain glucosamine, chondroitin, omega 3 fatty acids, and l-carnitine which have been shown to help alleviate symptoms of osteoarthritis. It is quite important to not allow such a dog to get overweight, so whatever you feed, watch total consumption.
Also maintain a good constant moderate exercise plan. Hill’s products makes a product called J/D which addresses these nutritional aspects of treating osteoarthritis. Some prefer to use good basic nutrition and supplement with the specific additives enumerated above.