http://physics.stackexchange.com/questions/243457/about-the-formula-of-pendulum-simple
a(t) = a0 * sin ( sqrt(g/l) * t * Pi/2 ) - [ k/(mll) * cos ( sqrt(g/l) * t * Pi/2 ) * t ) ]
a(t) : the angle in instant t .
t : time
g : gravity .
Pi = 3.14
k = Fixed (Friction )
l : longer of pendulum...