A system to transfer people and/or cargo during offshore operations includes a base with a stationary part and a moveable part that is rotatable relative to the stationary part about a substantially vertical first axis; a support arm having a first free end and a second free end opposite the first free end of the support arm; a boom having a first free end and a second free end opposite the first free end of the boom; a load support element; a measurement system; an actuator system; and a control system. The support arm at a location in between the first and second free end of the support arm is mounted to the moveable part of the base such that the support arm is rotatable relative to the moveable part about a substantially horizontal second axis.