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Instead of sending 1 signal to move of 2000 us when your servo is at 1000 us, you send intermediary signals: 1000, 1100, 1200, 1300, etc. The distance between these signals determines your speed. If your speed is low, you will have to use intermediary more points: 1000, 1001, 1002, 1003 so the servo won't jerk.