To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots (CSPRs), point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot (UCPR) with variable angle and height cable mast as described in this paper. The end-effector of the UCPR with three cables can achieve three translational degrees of freedom (DOFs). The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed. The motion trajectory of the end-effector comprising six segments is given. The connection points of the trajectory segments (except for point P3 in the X direction) are devised to have zero instantaneous velocities, which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition. The trajectory is respectively planned using three algebraic methods, including fifth degree polynomial, cycloid trajectory, and double-S velocity curve. The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector. Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning. At the points where the velocity suddenly changes, the length and tension variation curves of the planned and unplanned three cables are compared and analyzed. The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment. The effectiveness and feasibility of fifth degree polynomial planning are validated.