what software are you writing in!! all vectors work with nodes when they ain't smooth the circle can jerk, next one would get in to settings and speed.
a machine has to look ahead to see where it is going much like a car around a curve, so try slowing down and see what happens.
call me later and we can get on line this weekend (it will be cold on saturday)
do you have internet at or near the machine, if not get it!! i'll show you somthing cool!!