A lunar crane with a three-cable suspension system is investigated to provide a stable end effector for hoisting, positioning, and assembling large components during construction and servicing of a lunar base. The three-cable suspension mechanism consists of a structural framework of three cables pointing to a common point that closely coincides with the suspended payload's center of gravity. The vibrational characteristics of this three-cable device are investigated by comparing a simple two-dimensional suspension model and a swinging pendulum in terms of their analytical natural frequency equations. A study is also made of actively controlling the crane dynamics using two different actuator concepts. Two regulator-type control laws based on Lyapunov control are determined to provide vibration suppression for both dynamic systems. Simulations including initial-valued dynamic responses as well as active control performances are also presented.