Dynamics of the container crane on a mobile harbor

► A dynamic model of a container crane mounted on a ship (called a “mobile harbor”) was developed. ► The model included both sea-wave-induced ship motion and ship-motion-induced container sway. ► Heading sea (following sea), quartering sea and beam sea conditions were considered in simulation. ► The waves coming from 90° will make more effects on the sway angles and it should be avoided in operating mobile harbor. ► The correctness of the derived equations of motion was validated through the comparison of experiment and simulation results.