Purpose <p>This study explores the application of the input shaping method to a discharging system characterized by a time-varying load, hoisting cables, and nonzero initial conditions, employing adjustable maneuvering times.</p> Methods <p>The system's nonlinear equation of motion is linearized and solved numerically using the finite difference method. Optimized shaped input functions are derived, allowing for precise control over the system's behavior, and these functions are investigated through various levels of numerical method accuracy and different orders of optimization approaches.</p> Results <p>Benchmarking the results against unshaped time-optimal input functions across different hoisting cable lengths provides a comparison of performance. The analysis considers the mass distribution of the discharged load, highlighting the differences between shaped and unshaped inputs. Theoretical analyses are validated through numerical simulations, demonstrating significant improvements in system performance. These improvements are carefully evaluated both numerically and statistically, confirming the efficacy of the proposed method.</p> Conclusions <p>The findings underscore the potential of input shaping techniques in enhancing the precision and efficiency of discharging systems with variable loads and nonzero initial conditions.</p>