I do not believe that the Apple Pencil works, even as a passive, capactive stylus on any other iPads or iDevices other than the 12.9 and 9.7 inch screen iPad Pro models.
In order for a run of the mill capacitive to work, it needs to be made out of aluminum to help conduct the electrical impulses from your fingers/fingertips.
The Apple pencil is made of plastic, not metal.
So, I really think the Apple Pencil doesn't work, AT ALL, with any other iPads models other than the Pro models.
The only active, smart Bluetooth stylus that WILL work on just about every iPad, except the iPad 2, and more current iPod Touch and iPhone models is the Adonit Pixel smart Bluetooth stylus.
Found here.
http://www.adonit.net/jot/pixel/