Pure expressions lingo can only possibly ask current time so youd need mel in your expression (now you must understand this is a VERY bad thing for evaluation of the expression).
$value=getAttr -time (frame-5) nurbsSphere1.translate
;
nurbsSphere2.translateX=$value[0];
nurbsSphere2.translateY=$value[1];
nurbsSphere2.translateZ=$value[2];
PS ive lately become aware tough that two maya curve nodes could infact instance eachother atleast the node reference seems to indicate so... Havent got it owrking. If i ever do then that would be the way to go!