3 DOF Spherical Pendulum Oscillations with a Uniform Slewing Pivot Center and a Small Angle Assumption

Figure 1

Computational relative (a-b, e) and computational absolute (c-d, f) coordinates of a swaying payload during uniform crane boom slewing for the following numerical values of system parameters:  kg;  m;  m;  m/s²; and  rad/s.

(a)

(b)

(c)

(d)

(e)

(f)