Recent video of a 5 axis machine.

The cooler part is in the middle of the video - they show a virtual machine moving and also the tool path preview. The tool path makes sense. (because linuxcnc can do kinematics)

[ame=http://www.youtube.com/watch?v=ikzUnPMNDnc]EMC2 5-axis machining - YouTube[/ame]

You can create a model of your machine in linuxcnc. (I have only lightly played with it - it is not for the faint of heart)

sam