Double Pendulum and line joints

Hi everyone,

I want to make a simulation like in the figure but I want to know if Matlab can help me. If I plot a point in (X0,Y0) and another in (X,Y) and create lines same as in Figure, and if I want to move it like pendulum should I calculate all the points or I can make any Joint between these two lines and just tell to the middle point go at (X1,Y1) position and the other will automatically move.

Here is a visualized example if someone can't understand my question. https://www.youtube.com/watch?v=rHcXWaZj_bM, or in solidworks you can move it like this: https://www.youtube.com/watch?v=Gu--LQ_NHIc