Specify Body Coordinate Systems (Position). Enter the translational position of the body and its Body CS origins in space:
Use the data from the table Body Data for the Simple Pendulum, and work on the Position tab. Vectors are assumed translated from the World origin and oriented to the World axes.
Note the three default CSs in the Body dialog box. The CS at the CG is necessary for any Body, and you will connect CS1 to the Ground with a Joint shortly.
Delete CS2 by selecting its line in the Body CS list and clicking the Delete button in the Body CS controls.
You have two already existing CSs not on this Body that you can use to specify the positions of the Body CS origins that are on this Body:
Preexisting World origin at [0 0 0]
The Adjoining CS on the neighboring body, in this case the Grounded CS origin at [3 4 5]
Specify the CG and CS1 origins relative to World:
In the pull-down menu under Translated from Origin of, choose World for both coordinate systems, CG and CS1.
Under Origin Position Vector, specify the position of the origin of each CS, translated from the World origin:
[3 4 5] for CS1
[2.5 4 5] for CG
Select a CS relative to whose coordinate axes the components of the vectors in the last step are measured. You choose these CS axes in the Components in Axes of menu. Select World for both CSs. Leave the units as m (meters).