This study presents a simple S-curve trajectory generation method for rotary crane motion that can suppress residual load sway using only horizontal boom motion without load sway sensing. If load sway can be suppressed without measuring it, reduction in sensor cost can be achieved. Furthermore, employing simple velocity trajectory patterns such as trapezoidal and S-curve patterns, which are widely used in industrial automation systems, may provide cost effective controller implementation. Simulation results demonstrate the effectiveness of the proposed method.