Systems and methods of the present disclosure relate to optimizing a tripping velocity profile for pipes in a wellbore. A method for optimizing a tripping velocity profile for a pipe, comprising: determining a static gel strength of a fluid of a wellbore; determining an acceleration curve for the pipe in the wellbore based on wellbore pressure constraints, wherein the wellbore pressure constraints are based in part on the static gel strength of the fluid; determining a deceleration curve for the pipe; and combining the acceleration curve with the deceleration curve to provide the tripping velocity profile for the pipe.