Since this post have ran in 2014, have anyone figured out how to do this?
If the curvature is shallow, you can use a floating engraving tool, i recently bought one for engraving PCBs, it spring loads the engraving bit so it can float up and down.
I looking at substituting the 775 motor in my little cnc rig with a 550 and putting in a floating spindle holder that is able to move up and down.