Spherical Pendulum Small Oscillations for Slewing Crane Motion

Figure 5

Calculated 1 (a, c) and experimental 2 (b, c) absolute trajectories for load 𝑀, where 3 is the trajectory of boom point 𝐵 (b); 4 is the center 𝑂₂ (D) of boom rotation (b, c).

(a)

(b)

(c)