It is normal for our trucks to do this, but its not good for the compressor.
What is occuring is that the AC compressor is the lowest point in the system.
When you turn off the system, the refrigerant seeks out the lowest and coldest spot to "hang out" due to gravity.
The refrigerant in the suction line has turned back into a liquid due to the ambient temps and time. When you first engage the compressor, the liquid is flowing into the lowest spot (compressor) and is liquid slugging the compressor. The compressor only like to compress gas, not liquid... that awful noise is the internals of the compressor trying to compress liquid...
Once the system is running, all of the refrigerant in the suction line is a gas and it stops making that awful noise. This is most prevalent in the morning after a fairly cool evening.
A "properly" designed AC system has the AC compressor higher than the lowest spot in the system. Ideally, you want the refigerant in an idle system to "hang out" in the condenser.
Hope this helps,
Louis