Abstract: A method for machining a toothing with variable pitch on a rack implemented by a machine tool other than a ball nose milling cutter and includes at least five axes allowing positioning the cutting tool relative to the rack, namely a first, a second and a third axis of translation, forming a three dimension space, a first axis of rotation allowing modifying a yaw position, about a yaw axis parallel to the first axis of translation, and a second axis of rotation allowing orienting a roll position about the second axis of translation, and includes at least one cutting phase during which the cutting tool is controlled in «five continuous axes», by simultaneously modifying, during the same iteration, the spatial control component of each of the five axes, whereas the cutting tool rotates and is applied in contact with the surface of the tooth which is being trimmed.