A crop harvesting machine configured to separate crop, particularly pomegranates, from a tree by straddling the tree as the machine moves along a row of trees. The machine has an inverted u-shaped main frame that supports a sub-frame that defines a harvesting area configured to receive the canopy of a tree therein. A motor supported by the main frame propels the machine along the row of trees. A pair of picking assemblies supported by the sub-frame each comprise a crop separating mechanism having a plurality of rods configured to engage the tree canopy and separate the crop from the tree, a motion inducing mechanism to impart a short duration, snap-like whipping motion to the rods and a canopy engaging mechanism to move the rods in and out of the canopy. An operator area allows the operator to drive the machine along the row of trees and operate the various mechanisms.