How to apply and play animation ?

I want to apply animation to component.
Animation consist of one translation motion and rotation around itself 360.
I am able to apply translation and after that I am applying rotation. So animation looks like first object move from one point to another point then
on second point it complete revolution around itself.
But what I need is rotation and translation will apply simultaneously, so object will rotate around itself while moving toward another point.
For this case how I can calculate the transformation that needed to pass while creating animation.