This paper investigates a piezoelectric energy harvester that consists of a piezoelectric cantilever and a tip mass for horizontal rotational motion. Rotational motion results in centrifugal force, which causes the axial load on the beam and alters the resonant frequency of the system. The piezoelectric energy harvester is installed on a rotational hub in three orientations—inward, outward, and tilted configurations—to examine their influence on the performance of the harvester. The theoretical model of the piezoelectric energy harvester is developed to explain the dynamics of the system and experiments are conducted to validate the model. Theoretical and experimental studies are presented with various tilt angles and distances between the harvester and the rotating center. The results show that the installation distance and the tilt angle can be used to adjust the resonant frequency of the system to match the excitation frequency.