Abstract: A computer numerical control (CNC) device includes an integral accelerometer. A method of improving the accuracy CNC devices comprises integrating an accelerometer within the reader head of a linear feedback system. The feedback-system preferably incorporates acceleration feedback along with position feedback. The present CNC device can be incorporated in, and the method can be implemented for, machines including mills, lathes, routers, grinders, robotic devices, optical feedback systems, linear optical encodes, rotary optical encoders, servo drives and servo motors.