generating a velocity trajectory including a first portion in an acceleration duration below an initially established threshold velocity, a second portion in acceleration and deceleration durations above the initially established threshold velocity, and a third portion in a deceleration duration below the initially established threshold velocity, wherein the first portion is symmetrical to a velocity trajectory of a deceleration duration in a Proximate-Time Optimal Servo (PTOS) velocity trajectory, the second portion is generated in relation to a sine function, and the third portion is identical to the PTOS velocity trajectory in a deceleration duration; and,

applying the generated velocity trajectory to control the movement of a read/write head from a current track to a target track.