Do you know of any way to track whois data over time? I.e. a tool that will let you see who registered a website when, and when and if the whois data has changed on it?

I’m looking for a tool that would let me take something like blorp.com, and be able to see (for example) that it was first registered on blah date by blah people, then was transferred to blah servers and then again to blah with a different name, etc.

The data itself is all freely available, so it would seem that someone can do this or has done this.