an offshore loading system operable to load a substance between a first structure and a second structure separate from the first structure , the second structure including a manifold , includes a loading arm having a process pipe to carry the substance during a process of loading the substance by the loading arm , the process pipe including a free end , the loading arm coupled to the first structure . a control unit is coupled to the loading arm and operable to direct the free end of the loading arm , and a first acceleration sensor electronically coupled to the control unit . the first acceleration sensor is operable to detect relative movement of the first structure with respect to the second structure .