\documentclass[11pt]{article}
\begin{document}
\begin{figure}[H]
\centering
\includegraphics[width=10mm]{penduloPlano.png}
\caption{Rota\c{c}\~{a}o do suporte ocorrendo a manuten\c{c}\~{a}o do plano de oscila\c{c}\~{a}o do p\^{e}ndulo.}
\label{fig:rota\c{c}\~{a}o do p\^{e}ndulo}
\end{figure}
\end{document}
I have the image in the same folder that the tex file.
\usepackage{float}
to use[H]
.! Missing \endcsname inserted.