A 5-axis parallel-serial machine tool is introduced,which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism.The size of transform matrix is decreased by adopting unit matrix and the problem of parameter coupling is resolved by adopting vector method.The relationship between the velocity,acceleration of movable platform and those input parameters of the parallel mechanism is established in detail.These algorithms are verified through ADAMS and can provide references for kinematics analysis,dynamics analysis,motion control of parallel or parallel-serial machine tools,which have coupling kinematic parameters.