A first hydraulic cylinder is associated with the boom having a first end and a second end opposite the first end. A first sensor detects a boom angle of a boom with respect to a support (or a vehicle) near the first end. An attachment is coupled to the second end of the boom. A second hydraulic cylinder is associated with the attachment. A second sensor detects an attachment angle of attachment with respect to the boom. An accelerometer detects an acceleration or deceleration of the boom. A switch is arranged to accept a command to move to a preset position from another position. A controller is capable of controlling the first hydraulic cylinder to attain a boom angle within the target boom angular range and for controlling the second cylinder to attain an attachment angle within the target attachment angular range associated with the preset position in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.