The present invention provides a machining tool with a shaft rotatable by a motor around a first axis of rotation, and a machining element rotationally attached to the shaft for rotation about a second axis of rotation. The first axis of rotation and the second axis of rotation form an angle α, so that the first axis of rotation and the second axis of rotation are non-parallel and non-perpendicular. The machining element comprises an outer surface for machining a workpiece. In use, the machining tool can translate rotation of the shaft into oscillating movement of the machining element, and the oscillating movement can be uniform in all directions thereby providing a position and orientation independent machining of the workpiece. The machining tool may be applied in all forms of numerically controlled machining such as milling, grinding, and polishing CNC-machines, e.g. for abrasive machining such as polishing, grinding, or deburring.