In this paper, analytical study is performed to reduce residual vibration in seeking mode of optical pick-up. The conditions for acceleration adn deceleration time in trapezoidal velocity profile to reduce residual vibration are derived for undamped vibration system. To verify the validity of conditiosn two example studies are carried out. Numerical and experimental implementations for flexible arm system attached to moving part show that residual vibration is effectively reduced by calculated velocity profile. In addition, simulation study for optical pick-up reveals that by changing natural frequency to resonance frequency the conditions derived assuming undamped system can be applied to obtain velocity profile for minimum residual energy in damped vibration system.