Abstract: Based on the multi-body dynamic theory, the movement of every member of the swiveling jib and relevant hydraulic cylinders on a concrete delivery truck are both analyzed. With the Lagrange equation, the multi-body dynamic equation of the swiveling jib system is derived. A control model is then developed for the swiveling jib system via applying the PD control rate to every member's drive torque so as to enable it to move in accordance to the expected rotating angles. Further, based on the multi-body dynamic equation of swiveling jib system as above, a dynamic equation of the integrated jib truck system is built with a numerical solution given to it, thus analyzing comparatively the calculated and expected values of both rotating angle of each member of swiveling jib and the kinematic trajectory of its end. It is proved that the integrated dynamic equation thus built can exactly describe all the dynamic characteristics of the truck.