A rack assembly includes, among other things, a cargo frame, a cantilever frame, and an actuation system that moves the cargo frame from a stowed position to an intermediate position by sliding the cargo and cantilever frames relative to an anchor frame. The actuation system moves the cargo frame from the intermediate position by sliding the cargo frame relative to the cantilever frame to permit pivoting of the cargo frame relative to the cantilever frame to a loading position. A rack accessing method includes, among other things, sliding a cargo frame and a cantilever frame relative to an anchor frame to move the cargo frame from a stowed position to an intermediate position. The method further includes sliding the cargo frame relative to the cantilever frame to permit pivoting the cargo frame relative to the cantilever frame to move the cargo frame from the intermediate position to a loading position.