A method and apparatus for minimizing escapement positioning error by matching the move sequence of a print carrier to the mechanical system dynamic characteristics without the use of a feedback sensor are described. A plurality of constant velocity signals are provided for driving the print carrier to the next print position. The sequential velocity signals comprise an acceleration velocity signal and a deceleration velocity signal, the duration of which are dependent upon the damped natural frequency of the print system. For long escapement moves, a slew velocity command is provided between the acceleration and deceleration velocity commands so as to maintain the velocity of the print carrier at the amplitude it had attained at the conclusion of the acceleration velocity signal. The relative amplitudes of the acceleration, slew and deceleration velocity signals are a function of the damping ratio of the printer system.