An image forming apparatus includes: a printing unit configured to print at a plurality of linear velocities; an image preparing time determination unit configured to determine a print image preparing time necessary for developing print data to a print image to be printed by the printing unit; a linear velocity determination unit configured to determine the linear velocity according to the print image preparing time determined by the image preparing time determination unit; and an engine control unit configured to operate the printing unit at the linear velocity determined by the linear velocity determination unit.