Yes, the pendulum is different from common models in a way that it's not a rotary bar on a sliding carriage, but a rotary bar attached to end of another rotary bar (attached to axis of a motor). Instead of a linear and a rotary encoder, I need two rotary ones - one on the motor axis (attached to the ground) and one on the bar attached to the axis, to measure the movement of the pendulum. I can't tell how many turns will the motor make before the pendulum reaches vertical position, so the wires could be all around the axis and obstructing the movement or being ripped from the board.