This may have been brought up before, but I had an idea on how to shake a branch safely from the ground.
Simply install a qood quality wooden handled paint roller (minus the roller part) on a telescopic painters stick. Trim down the length of the steel bar if desired. Place around the branch and give the branch a shake.
This will work exceptionally well when the hive is placed on top of a ladder as shown in this video. Hint.... strap the hive down first. I bet he wished he had one. Sooooo many things could have gone wrong (and almost did). lol
Here is an example of the branch shaker.