The well known Foucault nonsymmetrical pendulum is studied as a problem of sub-Riemannian geometry on nilpotent Lie groups. It is shown that in a rotating frame a sub-Riemannian structure can be naturally introduced. For small oscillations, three dimensional horizontal trajectories are computed and displayed in detail. The fiber bundle structure is explicitly shown. The underlying Lie structure is described together with the corresponding holonomy group, which turns out to be given by the center of the Heisenberg group. Other related physical problems that can be treated in a similar way are also mentioned.