Abstract: Two or more angularly offset cams on a camshaft are ground simultaneously by discrete abrasive belts or grinding wheels while the camshaft rotates about its longitudinal axis. The camshaft is rotated in accordance with a pattern denoting different speeds during different stages of each revolution of the camshaft, and such pattern is selected in dependency on angular positions of the cams. Each belt or grinding wheel is movable radially of the axis of the rotating camshaft independently of the other belt(s) or wheel(s). The RPM of the camshaft is lower when one or more belts or wheels are in the process of grinding the flanks of the respective cam or cams, and the RPM is higher when one or more belts or wheels are in the process of grinding the apex or apices and/or the rounded portion or portions of the respective cam or cams.