A model is proposed to study the dynamic response of cargo like pendulum vibration under three dimension vehicle hull motions. A nonlinear two degree-of-freedom model of the cargo inside vehicle hull is developed and analyzed. Equations of pendulum motion are obtained by first order Lagrange equations using Lagrange multiplier for constrained system with one constraint equation. One or two independent bumpers of the securing cargo are considered in the model. In model of two bumpers between them is right angle. Bumpers forces are represented by a special stiffness and damping as a function of the displacement and motion velocity. Investigation was made for three kinds of pendulum motion: transient motion from free initial conditions without hull vibrations; stationary motion exciting from constrained string or hull bumpers vibrations; jointly transient and exciting motion. The investigation was made for one, two and tree component harmonica motion of hull. Additional investigation of motion with random excitation was observed. From mathematical modeling the optimization of geometric parameters like length of string and gap between bumpers and pendulum was made. It is found out that processes of transient motion are very short when gap is 'negative'. In additional is found out that by special harmonica frequency start vibro shock motion with large amplitude. Recommendation of investigation may be used for cargo fasten inside trailer, ship or airplane.