This technical note investigates consensus problems of a class of second-order continuous-time multi-agent systems with time-delay and jointly-connected topologies. We first introduce a neighbor-based linear protocol with time-delay. Then we derive a sufficient condition in terms of linear matrix inequalities (LMIs) for average consensus of the system. Furthermore, we discuss the case where the time-delay affects only the information that is being transmitted and show that consensus can be reached with arbitrary bounded time-delay. Finally, simulation results are provided to demonstrate the effectiveness of our theoretical results.