Purple is the true motion; orange is the comparison motion.

This is a simulation of a simple pendulum (a ball attached to a massless rod). If the damping is set to zero, the pendulum moves without resistance. The larger the damping, the larger the resistive torque.

Check out all the different graphs, and compare the zero damping case to the case with damping. You can also compare the real motion to the motion under the small-angle approximation - this is a ball for which the gravitational torque is proportional to the angle (an approximation) instead of what is actually true (and what happens for the purple ball), that the gravitational torque is proportional to the sine of the angle, measured from the equilibrium position. Note that the small-angle approximation is inconsistent with energy conservation!

If you view the free-body diagram, you will see the radial and tangential components of the force of gravity acting on the ball, the force the rod exerts on the ball, and the damping force (if damping is not zero).