To create an overlapping action I had to open up the graph editor for the movements of the segmented pendulum, and shift the motion paths along one by one. This meant that they moved at the same speed but the balls nearer the bottom would swing later that the ones at the top of the swing.
I liked the look of my segmented pendulum swing and how smooth it was, but there is a bit of a pause when I start to loop the video. The reason for this is that I just need to go back and look at the graph editor and tweak some of the movements within the swing.
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