In this article, we examine the effects of changing speaking rate and syllable stress on the space–time structure of articulatory gestures. Lip and jaw movements of four subjects were monitored during production of selected bisyllabic utterances in which stress and rate were orthogonally varied. Analysis of the relative timing of articulatory movements revealed that the time of onset of gestures specific to consonant articulation was tightly linked to the timing of gestures specific to the flanking vowels. The observed temporal stability was independent of large variations in displacement, duration, and velocity of individual gestures. The kinematic results are in close agreement with our previously reported EMG finding [B. Tulleretal., J. Exp. Psychol.: HPP8, 460–472 (1982a)] and together provide evidence for relational invariants in articulation.