The research dealt with modeling and simulating the motion of a rigid pendulum installed on a rotating horizontal bar. The coupled and non-linear equations of motion were developed. The equations of motion were linearized around both equilibrium points of the system. By a set of experiments demonstrated in the Lab, the numerical values of the different physical parameters of the experiment system were determined. A comparison between the motion of the pendulum and the bar as measured in the Lab to the motion simulated by a simulation, showed compatible results of both the non-linear and linear models of the system.