Seven subjects were asked to reach and grasp an object between the thumb and index finger, lift it about 30 cm high and 25 cm forward from one table to another, at their preferred speed. The perpendicular grip force and the tangential load force applied to the contact surface were digitized at 500 Hz and stored on a laboratory computer. The trajectory of the wrist and of the object was recorded using four infrared cameras tracking the movement of reflective markers attached to the distal styloid process of the radius and on the top of the object. The aim of this study was to demonstrate the influence of low friction (i.e. surface slipperiness) on the acceleration of the wrist. Friction was reduced by coating the smooth brass grasping surface with talc. The seven subjects had skin to surface coefficients of friction which ranged from 0.52-1.18 for dry brass and 0.24 0.34 for talc-coated brass. Two weights (418 and 1070 g) were used with each surface. The results indicated that with the slippery surface the necessary higher grip force/load force ratio was produced by an increase in the grip force and by a decrease in the wrist acceleration and a consequent reduction in the load force. This strategy was observed for both weights over a range of grip strengths between 21-98% of the individual's maximum voluntary contraction (MVC). This implies that even with adequate grip force reserves the reduction in acceleration is an acceptable and probable alternative solution to the force control problem. Our results also suggested that the loading rate and the object acceleration were planned and controlled together which emphasizes the role played by a predictive mechanism in organizing the kinematics of movements involving hand-held objects. This study shows that friction of the grasping surface not only affects the prehensile force dynamics, but it also influences the kinematics of the entire upper limb.