A set of complementary videos are provided to facilitate the visualization of the problem.
The videos present the four standard engineering views of the pendulum (left) and the pin (right), namely: top view (X-Y plane), isometric view (X-Y-Z), front view (X-Z plane), and right view (Y-Z plane). In the left videos, the hinge joint force expressed in the pendulum reference frame is shown at the centroid of the pendulum's cylindrical bearing surface, alongside the d'Alembert force, d'Alembert torque, and gravitational force at the pendulum's center of mass. In the right videos, the joint force is depicted in the pin reference frame, together with the gravitational force acting at the pin's center of mass. Here too, since the pin is fixed to ground and does not undergo acceleration, its d'Alembert force and torque vectors are zero.
The videos below show a closeup perspective of the four views shown above.