  We calculate the bosonic boundary state associated with a rotating and moving
D$p$-brane in the presence of the antisymmetric tensor field, a $U(1)$ gauge
field and a tachyon field. Rotation and motion are in the brane volume. We
reconstruct this boundary state via the group $PSL(2,R)$ to be applicable when
the tachyon field is presented. This modified boundary state enables us to
calculate the interaction amplitude between two parallel D$p$-branes with
rotation and motion. The long-range force of this interaction will be obtained.
The boundary state also enables us to investigate the tachyon condensation on a
rotating and moving D$p$-brane.
