The ability to measure the bulk dynamic behavior of soft materials with combined time and frequency resolution is instrumental for improving our fundamental understanding of connections between the microstructural dynamics and the macroscopic mechanical response. Current state-of-the-art techniques are often limited by a compromise between resolution in the time and frequency domains, mainly due to the use of elementary input signals that have not been designed for fast time-evolving systems such as materials undergoing gelation, curing, or self-healing. In this work, we develop an optimized and robust excitation signal for time-resolved mechanical spectroscopy through the introduction of joint frequency- and amplitudemodulated exponential chirps..........................