A system and method is provided for simultaneously designing a radiofrequency (“RF”) pulse waveform and a magnetic field gradient waveform in a magnetic resonance imaging (“MRI”) system. The method includes determining a desired pattern of RF excitation and determining, from the desired pattern of RF excitation, a plurality of k-space locations indicative of the magnetic field gradient waveform and a plurality of complex weighting factors indicative of RF energy deposited at each k-space location. The method also includes calculating, from the determined k-space locations, the magnetic field gradient waveform and calculating, from the complex weighting factors, the RF pulse waveform that will produce the desired pattern of RF excitation when produced with the calculated magnetic field gradient.