In this video, I go over the most probable things that could happen to your Apple Pencil and cause it to not function properly. If your Apple Pencil just stopped working, try all of these things in the chronological order to find the reason why it doesn't work.

Hope you find this helpful.

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Timestamps:
0:00 No Battery
0:49 iPad Needs to Be Charged
1:06 The Tip
1:24 Reset the Apple Pencil
2:12 Bluetooth
2:46 Restart / Update iPad
3:41 Other Issues
4:02 Conclusion

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