For acoustic radiation force ultrasound imaging, multiple displacement profiles for a given location are acquired. Physiological and/or transducer axial and/or lateral motion are accounted for using the displacements from the different acoustic radiation force impulses. For axial motion, a difference between the displacements of the different profiles provides information about motion during displacement at the location caused by just the undesired motion. A more accurate estimate of the undesired motion for removing from the displacement profile is provided. For lateral motion, the displacement profiles are obtained using waves traveling from different directions relative to the given location. An average of velocities estimated from the different profiles removes undesired lateral motion.