this rod has uniform density and freely pivots at one end.

Q = angle from 0 counter-clockwise to the rod

L = length

M = mass

Fgrav = force due to gravity

I = integral(r^2 dm, 0,L)

= integral(r^2 M*dl/L, 0,l)

= (M*L^2)/3

Fgrav = Mg -> Mg*cos(Q) tangentially

torque = F*L/2 = I*a

a = (3g/2L)*cos(Q)

how am i able to convert this a(Q) into a(t) ? (that's rotational acceleration by the way)

unfortunately, the following website was of no help. it simply took the exact same steps to get the exact same result

http://www.myphysicslab.com/pendulum1.html

this is for a graphical physics simulation i'm about to finish writing in Java. now i just need the formula