Having fallen behind to Scott Parker's first-half opener for West Ham yesterday, Stoke pulled level three minutes after the restart when Jones got his head to Pennant's delightful cross.
Both players, along with Jon Walters, had to be removed from the action in the second period after picking up injuries, but Pennant in particular proved a real handful for the Hammers.
The former Arsenal and Liverpool winger, who joined on loan from Real Zaragoza on transfer deadline day, was making his first start for Stoke and Kemp feels he is settling well.
"He did brilliantly for the goal and was bright," he said.
"Particularly for a new player, he has fitted in very well and taken on board what we want him to do.
"But there was a bit of a break-up in the (team) performance because we kept changing the players, not by choice but by necessity because they were injured. That broke the game up for us a little bit."
By converting Pennant's cross, Jones scored his second goal in two matches, having also netted in Monday night's 2-1 victory over Aston Villa.
The Trinidadian was signed in August for a club record £8million from Sunderland and Kemp has backed him to continue making the most of deliveries from out wide.
"They combined well for the goal and did fantastically," Kemp said.
"Kenwyne is going to thrive on the service from Jermaine and Matthew Etherington. We have high hopes for it, but we need to do more of it."