Abstract: Rotary cranes are widely used in construction operations to load and unload materials in field. However, the efficiency of cranes loading operation could be limited due to the crane's slewing rotational motion that generates undesirable two-dimensional load sway. Various attempts of load sway control have been proposed to reduce the dependence on human operator's skills as well as to increase their safety. This paper presents a dynamic model for a telescopic rotary crane (TRC) to help in developing a load sway control method for the system. Velocity trajectory patterns such as S-curve pattern, cubic path pattern, quantic path pattern and zero jerk path pattern are generated by solving the algebraic equations numerically. The validation of the developed model and used operational parameters is demonstrated by comparing the model results to published numerical results and virtual simulation results using Sim-Mechanics toolbox of MATLAB®.