The cooperative guidance law that controls impact time and angle can improve the penetration capability and maximize the strike effectiveness, which is a current research hotspot. Most of the existing cooperative guidance laws assume that the missile's flight speed does not change, and do not take the impact of variable speed on the arrival time estimation into consideration. In this paper, the Bezier curve is used as the attack trajectory, and the arrival time is estimated according to the missile velocity profile and the Bezier curve length. After proving the length of the Bezier curve increases monotonically with the initial flight-path angle, we adjust the arrival time by virtual initial flight-path angle to achieve cooperative attack, and the expected arrival time will be consistent. On the basis of assuming that the shorening of the curve length would shorten the arrival time, we prove that the proposed algorithm can reach the agreement of the arrival time. Through the simulation, it is verified that the algorithm can achieve high time arrival accuracy while ensuring the accuracy of the attack angle.