There is no feature in Joomla or extensions that I know of that allows you do this. If you are using Joomla 2.5/3.0, then you will be best off creating different user groups, then creating 3 separate menu items, 1 for each group that only they have access to.
If you are Joomla 1.5, then you only extension that I know of for adding custom user groups is ArtofUser, which is still limited in it's own way.