Gosh, awfully early / not enough coffee yet to retrieve Sophomore Dynamics knowledge from the 70's, but here goes:
1. Assign a coord sys on center of mass CM, somewhere near the kid's belly button. +X = forward, +Y = aligned with gravity field.
2. Kid leans back and kicks legs forward. CM is now (??) slightly rearward of chains by virtue of pivot point where kid is holding chains. This is change in momentum dM/dt = accel & applied at CM. Causing a -RZ rotation moment. Resolve forces in X,Y, kid moves slightly forward.
3. Repeat opposite in rearward direction -X.
4. Repeat in something near natural oscillation frequency of swing/pendulum to amplify motion.
Can it be done by kid sitting still? I don't see how. I would think replacing kid with a static mass would prove this. Kid would always be making small balance corrections and thus impart momentum change. However, a static weight would also start to oscillate due to (?) force imparted by action of Earth's rotation. Check out "Foucault Pendulum" for this effect, I think it may apply to the swing with static mass.
TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering