<p>Applying traditional command shaping for overhead crane operations involving simultaneous travel and hoist maneuvers is a challenge, especially for nonlinear hosting speeds. This paper presents a novel approach to design a closed-form, smooth, and time-adjustable command shaper to suppress payload oscillations during simultaneous travel and hoist maneuvers. In contrast to the other conventional shapers, the proposed shaper is designed by representing the swing angle with a proper continuous function using a Bezier curve. The required input acceleration is derived algebraically from the governing equation of motion. Different simulation scenarios were investigated, involving travel without hoisting and with hoisting. Various hoisting speed functions were tested. The proposed shaper ensures smooth and precise control over the payload during motion sequence, enhancing safety and reducing the risk of accidents. The efficacy of the proposed shapers for reducing payload swing was proved by the experimental validation conducted on a scale overhead crane. The proposed Bezier shaper exhibits steady and smooth input power delivery, improving motor performance and providing increased motor protection. This innovative approach presents a significant advancement in crane operation, offering improved productivity and operational efficiency in various industrial settings.</p>