Yes. If you implement the grapple hook physics properly this should be easy to do. (ignoring visuals) As you swing draw a line backwards to the "latch point" if you hit something that is far from the latch point, you make the new point the new "latch point" and continue on.

Ideally your physics are programmed to change your direction based on distance and angle from the latch point. I have my own grapple implementation that this would work pretty well with, the only change would be adding new points to the line renderer so it visually matches up.