Pencil by FiftyThree, not to be confused with Apple Pencil, supports the third-generation iPad and later, all iPad Air models, all iPad mini models and the iPhone 4s or later. The Pencil by FiftyThree supports the official FiftyThree Paper drawing and sketching app.
Here's a list of Apple model numbers supported by Pencil:
A1403
A1416
A1430
A1432
A1454
A1455
A1458
A1459
A1460
A1474
A1475
A1489
A1490
A1491
A1599
A1600
A1566
A1567
Taxonomy upgrade extras:
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