A cable-suspended payload transported by a team of UAV's can be viewed as a reconfigurable cable-driven parallel robot (RCDPR). Taking advantage of this observation, we derive the full dynamic model of such system, and in particular a direct relation between the motion of the UAV’s and the motion of the payload. The resulting model is suitable to design a teleoperation system in which an operator can intuitively command the linear and angular velocity of the payload.