Consider that a completely motionless Apple Pencil will automatically enter its low power mode - where its Bluetooth radio is suspended - and will consume very little power. However, when movement (however slight) is detected by the Pencil accelerometer, the Pencil will return to its active state and consume power from its tiny battery.
As such, when not docked with the host iPad to maintain the Pencil's battery charge, the slightest movement will wake the Pencil to its fully active state. When the Pencil is being carried in a pocket or bag, separately from the host iPad, the Pencil will be fully active and will quickly deplete the Pencil battery.