Hey Jeff
From Tokyo going to Kyoto and Osaka is not really a day trip, it is better to have atleast couple of days in both cities though even then you cant really get to see all of the sights. To get to Osaka and Kyoto from Tokyo and to go back it would be good to get the JR pass so you can take the bullet trains. Also with the Jr Pass you can move in Tokyo with a train for free
I hope this answered your questions.