With an appropriate geometric configuration, a helicopter-borne rotating synthetic aperture radar (ROSAR) can break through the limitations of conventional strip-map monostatic SAR on forward-looking imaging. Owing to such a capability, ROSAR has extensive potential applications, such as self-navigation and self-landing. Moreover, it has many advantages if combined with frequency-modulated continuous wave (FMCW) technology. In this letter, a novel geometric platform configuration and an imaging algorithm for helicopter-borne FMCW-ROSAR are proposed. First, by adopting the higher order approximation of slant range model to improve the azimuth resolution for FMCW-ROSAR, the precise 2-D spectrum of the echo signal is derived based on series reversion. Moreover, at the same time, the Doppler offset caused by the continuous motion of the antenna is analyzed and compensated as well. Then, according to the analysis on the range-dependent velocity variation caused by ROSAR geometric configuration, an efficient inverse chirp-Z transform is utilized to remove the variant range cell migration, and a well-focused SAR image can thus be obtained. Finally, the experimental results with simulated data demonstrate the effectiveness of the proposed algorithm.