This paper proposes a simultaneous control method for small satellites mounted with a communication antenna; the objective is to reduce the time involved in satellite maneuver and antenna motion. Recently, small Earth observation satellites have been utilized, even though agile large angle satellite attitude maneuver has been in demand. Small Earth observation satellites acquire high-resolution data, resulting in an increase in the time required for data communication. Therefore, it has become important to ensure that small Earth observation satellites are capable of being maneuvered rapidly so that communication time can be extended by using a data relay system. In conventional operations, the antenna motion is implemented after satellite attitude maneuver. However, this method has a time delay between the completion of the attitude maneuver and the start of data communication. The purpose of this study is to extend the time for Earth observation and data communication. In order to achieve this, we propose a simultaneous control method for satellite maneuver and antenna motion using a nonlinear programming problem.