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Recent additive manufacturing technologies, such as 3-D printing and printed electronics, require constant speed motion for consistent material deposition. In this paper, a new path planning algorithm is developed for an (XY) -motion stage with an emphasis on aerosol printing. The continuous aerosol stream provided by the printing nozzle requires constant velocity in relative motion of a substrate to evenly deposit inks. During transitioning between print segments, a shutter prevents the aerosol from reaching the substrate, therefore wasting material. The proposed path planning algorithm can control motion of an (XY) stage for an arbitrary printing path and desired velocity while minimizing material waste. Linear segments with parabolic blends (LSPBs) trajectory planning is used during printing, and minimum time trajectory (MTT) planning is used during printer transition. Simulation results show that combining LSPB with MTT can minimize the printing time while following the desired path.