ABS/TCS Lights keep coming on my dash everytime i accelrate?

I have a problem with my 02 nissan altima 3.5 SE. after i put the car in ignition and drive, the ABS and TCS lights come on, this prevents my car from going more than 20 miles per hour sometimes less, when ever i accelerate it jerks forward and the lights come on. What could be wrong with it? sensors maybe?