\documentclass[12pt,border=3pt,tikz,class=scrartcl,multi=false]{standalone}
\usepackage[T1]{fontenc}
\usepackage[latin1]{inputenc}
\usepackage{times}
\usepackage{mathtools,amssymb,gensymb}
\usepackage{pgfplots}
\pgfplotsset{compat=1.12}
\usetikzlibrary{positioning,calc,arrows,fit,backgrounds,decorations.text,shapes,matrix}
\pagestyle{empty}
\thispagestyle{empty}
\begin{document}
\renewcommand{\baselinestretch}{1}\scriptsize
\begin{tikzpicture}
	\draw 
		(-2,0) -- (3.5,0)	(-1.5,1) -- (-1.5,-4)
		(1.5,-2) -- (0,0) node [pos=.5,above right] {\textit l}
		(-1.3,.8) node {\textit y}
		(0,.7) node {M}
		(1.7,-1.6) node {m}
	;
	\draw [dashed] (0,0) -- (0,-3.5);
	\draw [-latex,dashed] (-1.5,-1.5) -- (0,-1.5) node [pos=.5,above] {\textit x};
	\draw [-latex,dashed] (0,-.7) arc (-90:-53.13:.7) node [pos=.5,below right] {$\theta$};
	\draw [fill=gray!60] (-.5,0) rectangle +(1,.5);
	\draw [fill=red!80] (1.5,-2) circle (.3);
	\draw [-latex,line width=.05ex,blue,dashed] (-1.5,0) -- (1.5,-2) node [below right] 
		{\textit{(x$_{\textrm{pend} }$,y$_{\textrm{pend} }$)} };
\end{tikzpicture}
\end{document}