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This paper investigates the effects of channel estimation errors on the symbol-error-rate (SER) performance of a cooperative communication system operating in an amplify-and- forward (AF) mode. A pilot symbol assisted modulation scheme with linear minimum mean square estimation (LMMSE) is used for the channel estimation. An accurate and easy-to-evaluate SER expression is presented for uncoded cooperative communication systems with quadrature amplitude modulation (QAM) and phase-shift keying (PSK) constellations. Numerical simulations are conducted to verify the correctness of the proposed analytical formulation. It is shown that the performance loss caused by channel estimation errors increases mainly with the normalized maximum Doppler frequency.