A front loading refuse collection vehicle is provided, comprising (a) a mobile vehicle including a vehicle cab and a vehicle chassis; (b) a body forming a container into which refuse may be loaded, the body mounted to the vehicle chassis and having an exit passage from which loaded refuse may be emptied; and (c) a loader device for loading refuse into the body. The loader device comprises (i) an arm which pivots about a first pivot axis located on the chassis from a loading position to an unloading position, the arm including a lifting mechanism for lifting the arm, (ii) a fork which extends from the arm and which pivots about a second pivot axis located on the arm from a loading position to an unloading position, the fork including a rotating mechanism for rotating the fork about the second pivot axis, (iii) a container mounted upon the fork, and (iv) a control circuit for coordinating simultaneous operation of the lifting mechanism and the rotating mechanism. The control circuit (i) receives an actual arm position signal from the lifting mechanism indicating the position of the arm with respect to the body, (ii) translates a stored arm position matching the actual arm position signal into a desired fork position corresponding to the stored arm position, and (iii) outputs a fork position control signal to the rotating mechanism indicating the desired fork position, to minimize an overall maximum height that the container achieves while being lifted and rotated.