Differentiating angular displacement and displacement at manipulator’s end-effector directly, analysis formulas of angular velocity, linear velocity, angular acceleration and acceleration are given in this paper. According to these formulas, two iterative programs about velocity and acceleration at end-effector is given as well as. Since it is not necessary to count transform matrix from frame {n-1} to {0} in iterative program, the algorithms become simpler and thereby can be used to enhance the property of real-time in manipulator control.