Storyboard everything first to see the end result in action prior to filming.
Start with the characters in Location A, going through their lines.
At the appropriate cue, whip the camera around. On its own, the shot will whip and become very blurry.
In Location B, set the characters up at their appropriate marks. Place the camera where it needs to be based on the storyboards.
On Action! whip the camera INTO the shot this time, ending with the characters in frame. This is tougher than the initial whip, since you need to stop perfectly.
When editing, fade the whips into each other. Upon playing it back you should see a seamless whip from Location A to B, where the action is blurred in the second it takes to transition.
Add a whoosh-type sound effect to really create the sense of traveling.