The applying of semantic technologies that aim to let computers understand and automatically process the meaning of the interlinked data on the Web is spreading. In Semantic Web, understanding and accessing the associations between data that is, the meaning between data as well as accessing to the data itself is important. W3C recommended RDF (Resource Description Framework) as a standard format to represent both Semantic Web data and their associations and also proposed several RDF query languages in order to support query processing for RDF data. However further researches on the query language definition considering the semantic associations and query processing techniques are still required. In this paper, using the suffix array-based indexing scheme previously introduced for RDF query processing, we propose a query processing approach to handle ${ ho}$-path query which is the representative type of semantic associations. To evaluate the query processing performance of the proposed approach, we implemented two different types of query processing approaches and measured the average query processing times. The experiments show that the proposed approach achieved 1.8 to 2.5 and 3.8 to 11 times better performance respectively than others two.