According to the problem of larger load impact and violent vibration of shearer under the condition of oblique cut. The contact stiffness between travel unit and scraper conveyor is described by using the contact theory. The contact clearance between guide foot and pin is described by using the contact impact theory. Lateral nonlinear dynamic model of 6 degree of freedom of shearer under the condition of oblique cut are established based on the lumped mass method. Taking the test axial cutting force as excitation，lateral vibration characteristic of shearer are analyzed under oblique cut. The results show that shearer vibratory quantity increases with drum depth-web. Vibratory quantity of front drum is larger than the vibratory quantity of back-end drum. Vibratory quantity of front rocker arm is larger than the vibratory quantity of back-end rocker arm. The fuselage has small vibratory quantity. Finally，the results of model is verified by experiment.