m=1; g=9.81; l=1; t=0;dt=0.01; theta=0.1;omega=0; clear time; time(1)=t; clear angle; angle(1)=theta for i = 1:1000 t=t+dt; F=-m*g*sin(theta); a=F/m; eps=a/l; omega=omega+eps*dt; theta=theta+omega*dt; time(i)=t; angle(i)=omega; end plot(time,angle) xlabel ("t [s]"); ylabel ("theta [rad]");