In the design of control systems, modeling is an important tool when studying how the controlled system responds to a certain input. Often, modeling makes it also possible to identify existing errors, if any, before the algorithms are used in real-world applications. The paper presents ongoing work aiming at improve the maneuverability and facilitate for operator of the hydraulic cranes mounted on forestry machines. Since the application should be able to run in real-time, the description of the system is based on the rigid body assumption and generalized coordinates using the smallest number of variables possible to describe the state. The paper presents results from numerical simulations of orthogonal crane tip control.