Robelle,
I am thinking you want metal. I provided the photo as an illustration of the relative strength of materials required for a cantilevered swing support. Those wooden beams are quite thick and strong.
"A" frame swing sets can get by with relatively weak supports because the majority of forces are in compression, in the direction materials are stronger.
Your design requires metal supports that can withstand lateral forces, in the direction materials are weaker.
The horizontal overhead support arm acts as a torque amplifier on the vertical support structure and its foundation for the twisting, turning and lateral forces from the swing.
A person weighing 250 pounds statically can exert 750 pounds dynamically at the swing attachment points. A 4 foot overhead support arm multiplies the forces where it attaches to the vertical support.
The structure may "see" torque as much as 3,000 foot pounds in the directions that the vertical and overhead horizontal supports are weakest.
The fulcurm is at ground level. The part of the foundation that is, say 4 feet, below ground must withstand twice that force for an 8 foot high vertical support, or 2.5 that force for a 10 foot high vertical support. All forces must be doubled for an industry standard 2 times safety margin.
Going through this "back of the envelop" analysis makes me realize some reasons I haven't seen this design in use. It takes experience, a good understanding of physics and material strengths. Some say the strength of materials classes are the most difficult in mechanical engineering curriculums.
It's an aesthetically beautiful design. It takes very strong materials, but it is not impossible to do.