<p>This paper investigates the dynamic modeling and analysis of a quadrotor transporting a payload via continuous flexible cable. To this end, the vehicle’s equations of motion, which are ordinary differential equations (ODEs), are obtained by considering the quadrotor as a rigid body. Then, the partial differential equations (PDEs) of the flexible cable are derived based on continuous model approach. Afterward, the mathematical model of the whole system is presented through applying the corresponding boundary conditions. The distinctive feature of the aforementioned hybrid model is the ability to display the cable deflection profile in certain flight conditions and to precisely assess the effect of the slung-load physical and geometric parameters on the whole system dynamics. An additional advantage of this model lies in its capacity to delineate the conditions under which the assumption of a rigid link behavior of the cable is sustained. The validity of these issues is evaluated through a comprehensive numerical simulation in steady and quasi-steady conditions. Furthermore, as one of the applications of this mathematical model, the problem of aerial cabling is simulated. In this regard, a detailed dynamic analysis is performed. The simulation outcomes demonstrate the capability of the proposed model in accurately representing the motion behavior of the flying system under a wide range of flight conditions.</p>