Inadequate shop floor friendliness is a major reason why traditional software based error compensation approaches have failed to be accepted by industry. This paper develops a compensation approach that relies solely on post-process and on-machine measurements of parts previously machined on the same machine. The approach is based on a new method of error decomposition and a simple model of machine deflections induced by the cutting force. The approach is verified by independent measurements of the various model parameters. It is also shown that the machine tool can be made to act as its own dynamometer.