A method of minimizing a mechanical mode excitation is disclosed. A seed position trajectory is generated utilizing a third order time polynomial, wherein the third order time polynomial is segmented for constant velocity, and deceleration. A reference position is generated by applying a first infinite impulse response filter to the seed position trajectory. A reference acceleration is then generated by applying a second infinite impulse response filter to the reference position. Then, the reference position and the reference acceleration are fed forward to a servo loop such that an actuator follows a desired seek trajectory, thereby reducing a position error signal at the seek settling.