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The concept of multiple-input multiple-output (MIMO) radars has drawn considerable attention recently. Unlike the traditional single-input multiple-output (SIMO) radar which emits coherent waveforms to form a focused beam, the MIMO radar can transmit orthogonal (or incoherent) waveforms. These waveforms can be used to increase the system spatial resolution. The waveforms also affect the range and Doppler resolution. In traditional (SIMO) radars, the ambiguity function of the transmitted pulse characterizes the compromise between range and Doppler resolutions. It is a major tool for studying and analyzing radar signals. Recently, the idea of ambiguity function has been extended to the case of MIMO radar. In this paper, some mathematical properties of the MIMO radar ambiguity function are first derived. These properties provide some insights into the MIMO radar waveform design. Then a new algorithm for designing the orthogonal frequency-hopping waveforms is proposed. This algorithm reduces the sidelobes in the corresponding MIMO radar ambiguity function and makes the energy of the ambiguity function spread evenly in the range and angular dimensions.