<p>In recent years, aerial manipulators have seen widespread adoption. Although extensive research has been conducted on their mechanical structure and flight control, there remains a notable lack of analysis concerning nonlinear dynamics. This article seeks to address this gap by establishing a time-varying full disturbance dynamic model of the angular velocity for a two-degree-of-freedom (2-DOF) aerial manipulator. The model is classified as a non-autonomous system. The study investigates the nonlinear dynamic behavior of the angular velocity under specific parameter settings. Transient chaotic oscillations induced by the angular velocity are examined through various techniques, including time sequence diagrams, phase diagrams, maximum Lyapunov exponent, and Casimir power. Given that chaotic oscillations in the aerial manipulator’s angular velocity can lead to system instability, the influence of active inputs and structural parameters on the dynamics of angular velocity is further analyzed using bifurcation diagrams. Additionally, the mechanisms underlying the chaotic oscillations resulting from the angular velocity are explored by calculating the existence of equilibrium points. The primary objective of this paper is to analyze the effects of various parameters on the angular velocity dynamics of the aerial manipulator. The findings aim to guide the selection of an appropriate configuration for the aerial manipulator, thereby ensuring maximum system stability. The significance of this research lies in its contribution to enhancing the understanding of nonlinear dynamics in aerial manipulators and improving their practical applications.</p>