Mirrored RAID keeps identical copies on each drive. A file is written to both drives simultaneously, so the write speed is about the same a non-RAID. Read speed may be faster if the RAID software allows reading different blocks simultaneously from multiple drives.
Concatenated RAID combines multiple drives to look like one large virtual drive, using the actual drives in order. If you start writing from the beginning, the first drive will be filled, then the second, etc. The speed is the same as non-RAID. If you are dealing simultaneously with files that happen to be on different drives, it can be faster than non-RAID.
Striped RAID interleaves the drives to make a virtual drive. It is set up with a block size of one or more sectors. With two drives, the even numbered block are on one drive, the odd on the other. When a large file is written, pieces will be written to all drives simultaneously, so you get a higher read and write speeds.