In this paper, a new interpolation formula is proposed to control the cutting motion of 5-axis machine tools in straight and circular motions. This interpolation formula is named of Trochoidal Interpolation. It is a combination of straight and circular interpolations with variable blending function, which are carried out by utilizing DDA algorithm. The proposed interpolation formula makes it possible to shorten a required NC command tape and to simplify the motion control algorithm when the 5-axis NC machine tools was applied to complex shape machinings.