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The transverse vibration caused by the mass eccentricity of the whirling arm and the unbalanced magnetic pull of the motor rotor is a critical factor that affects the stability and safety of the rain erosion whirling arm. To investigate the transverse vibration characteristics of the rain erosion whirling arm during operation, a four-degree-of-freedom transverse vibration model of the rotor-rain erosion whirling arm is established using the lumped mass method. The differential equation of motion of the rotor-rain erosion whirling arm, considering the influence of mass eccentricity and unbalanced magnetic pull, is then established based on the Lagrange equation. This equation is numerically solved using the Runge-Kutta algorithm to investigate the axis trajectory and amplitude distribution of the rotor-rain erosion whirling arm. To reduce the fatigue damage caused by vibration, the active disturbance rejection decoupling control method is employed. Furthermore, the parameters of the extended state observer are adjusted using pole assignment and bandwidth. The simulation results reveal that the vibration amplitude of the rotating blade can be reduced to within 0.2 mm, referring to the BSS7393 test standard. Additionally, experimental research is conducted to compare the vibration of the rain erosion whirling arm before and after implementing the active disturbance rejection decoupling control. The results demonstrate that the active disturbance rejection decoupling control method effectively suppresses the vibration of the rain erosion whirling arm, illustrating its feasibility and effectiveness for system vibration control.