This first set of cylinders was shaded by using the
side of a pencil.
As you can see, I applied each level of darkness in layers, the lightest on first, and darkest last.
Be sure that as you layer, you leave a bit of the previous layer peeking out from behind the one you are laying down.
What I mean is, the lightest value will cover the most area, and the darkest will cover the least.
Holding your pencil over-handed helps you to get a different angle than you are used to.
With the side of the pencil's "lead" directly on the paper, you get a much broader stroke, covering more area, and more possibilities.
Play around with this technique - it's really fun!

In this second group of cylinders you see the technique of "
hatching."
They are a series of strokes arranged in a row that give the appearance of that area being darker.
On the first cylinder there is only one set of lines.
I began each line on the dark side and gently pulled the pencil toward the light side.
Lifting the pencil up off the paper near the end of the stroke gave the illusion of softening into the light. (Using a dull pencil helps.)
Notice how the same process is going on inside the cylinder, implying that it is hollow.
The second cylinder has another set of lines overlapping the first set, making the right side of the mug even darker.
And on the third cylinder there is yet
another set of lines completing the balance between light and dark.
A third group of cylinders will be used to show another way to hatch.
Instead of drawing the lines all in the same direction, in "
cross-hatching" each set of lines goes in a slightly different direction.
You can see another example of cross-hatching in my header.
Cross-hatching with 90º angles, or in a confused order, gives a disjointed felling.
THIS IS NOT THE WAY -

PLEASE DO NOT CROSS-HATCH THIS WAY
~~~
THIS IS THE WAY-
With each darker set of lines, the further back they will recede from the light, and the steeper the angle of the lines become.
Remember - consistency is key, so if you use one technique to shade, use the same for the shadow.
Of course while practicing and playing around, mixing them up is fine, but for a final piece you'll want continuity.
I hope this makes sense - if not, just leave a comment and I'll try to answer you questions.