A set of complementary videos are provided to facilitate the visualization of the problem. The videos present the four engineering views of the pendulum and the pin. In the left videos, the hinge joint force and torque expressed in the pendulum reference frame are shown at the centroid of the pendulum's cylindrical bearing surface, alongside the d'Alembert force, d'Alembert torque1, and gravitational force at the pendulum's center of mass. In the right videos, the joint force and torque are depicted in the pin reference frame, together with the gravitational force acting at the pin's center of mass.
The videos below show a closeup perspective of the four views shown above.