The paper studies concomItant motion kinematlcs. In kinematlcs , the kinematical relation of therelative motion between concomltant satellite and mam satellite is deduced; the three applications of the kindematical relation are discussed. Supposmg the mam satellite orbit is circular. the concomltant motion equations with earth-fixed coordinate system and mam satellite orbit-fixed coordinate system (in four cases) are deduced. ConcomItant orbit shapes and characteristics are gamed by analysis.