The cutting force applied between the cutting tool and the workpiece of a machine tool is periodically pulsated to expedite removal of material from the workpiece. The periodic cutting force pulsation is produced by periodically varying the spindle speed or the feed rate or both. In one embodiment, the periodic speed variation is produced by universal joints in the spindle drive and worktable drive. In a second embodiment, the periodic speed variation is produced by elliptical gears in the spindle drive and worktable drive.