These are the actions. There is a plastic castle for children to play like this picture
My question is that
How to express these actions in English
Action 1: a child puts his both hands on the roof of the castle & let his legs and body free off the surface.
Can I say "He is hanging himself on the roof of the castle"?
But people may misunderstand that he is killing himself by tying a rope around his neck and allowing him to drop.
Action 2: a child puts his both hands on the roof of the castle & let his legs and body free off the surface. And then he moves his legs & body back & forward or side to side.
Can I say "He is swinging on the roof of the castle"?
Note: Some site says the difference between "hang from" & "hang on"
You can also think of it in terms of their position in space: Hanging on means that some of the weight of the thing hanging is resting on another object, like a picture hanging on a wall, or coat hanging on a hanger... On the other hand, something hanging from or off isn't resting, balancing, or leaning on anything else, but is attached to the other thing near its top and hanging freely (in other words, suspended from it), like a chandelier hanging from the ceiling... or a coat that has fallen off its secure position on the hanger and is now dangling/hanging from/off one side of the hanger, and is about to fall off. I hope this helps!
But it seems there are more "hang from" & "swing from" on the Google search page than "hang on" & "swing on".