A method for determining a tool path of an incremental sheet forming tool, the method being executed by a computer and comprising: dividing a desired shape of a workpiece into a plurality of layers stacked on top of one another; defining a first path that circumferentially traverses a fraction of a first layer of the plurality of layers and a second path that circumferentially traverses a fraction of a second layer of the plurality of layers; calculating a curved transition that joins the first path to the second path; and driving a forming tool along the first path, the curved transition, and the second path to shape a material into the workpiece; wherein calculating the curved transition that joins the first path to the second path comprises: calculating a midpoint between an end point of the first path with coordinates ex1, ey1, and ez1 and a start point of the second path with coordinates sx2, sy2 and sz2; wherein midpoint coordinates, dx1, dy1, and dz1 ae calculated based on: dx 1 = ex 1 + sx 2 2, dy 1 = ey 1 + sy 2 2, dz 1 = ez 1 + sz 2 2 calculating coordinates for a curve point based on the midpoint and based on a displacement value of the curve point m1 and a constant of tension as percentage K such that m 1 = d 1 * T / K; where T is an integer and d1 represents the coordinates dx1, dy1 and dz1; drawing the curved transition through the end point of the first path, the start point of the second path, and the curve point such that the curved transition has an equal curvature between the end point of the first path and curve point and between the start point of the second path and the curve point and such that the curve point is the furthest point on the curved transition relative to the end point of the first path and the start point of the second path. dividing a desired shape of a workpiece into a plurality of layers stacked on top of one another; defining a first path that circumferentially traverses a fraction of a first layer of the plurality of layers and a second path that circumferentially traverses a fraction of a second layer of the plurality of layers; calculating a curved transition that joins the first path to the second path; and driving a forming tool along the first path, the curved transition, and the second path to shape a material into the workpiece; wherein calculating the curved transition that joins the first path to the second path comprises: calculating a midpoint between an end point of the first path with coordinates ex1, ey1, and ez1 and a start point of the second path with coordinates sx2, sy2 and sz2; wherein midpoint coordinates, dx1, dy1, and dz1 ae calculated based on: dx 1 = ex 1 + sx 2 2, dy 1 = ey 1 + sy 2 2, dz 1 = ez 1 + sz 2 2 calculating coordinates for a curve point based on the midpoint and based on a displacement value of the curve point m1 and a constant of tension as percentage K such that m 1 = d 1 * T / K; where T is an integer and d1 represents the coordinates dx1, dy1 and dz1; drawing the curved transition through the end point of the first path, the start point of the second path, and the curve point such that the curved transition has an equal curvature between the end point of the first path and curve point and between the start point of the second path and the curve point and such that the curve point is the furthest point on the curved transition relative to the end point of the first path and the start point of the second path. calculating a midpoint between an end point of the first path with coordinates ex1, ey1, and ez1 and a start point of the second path with coordinates sx2, sy2 and sz2; wherein midpoint coordinates, dx1, dy1, and dz1 ae calculated based on: dx 1 = ex 1 + sx 2 2, dy 1 = ey 1 + sy 2 2, dz 1 = ez 1 + sz 2 2 calculating coordinates for a curve point based on the midpoint and based on a displacement value of the curve point m1 and a constant of tension as percentage K such that m 1 = d 1 * T / K; where T is an integer and d1 represents the coordinates dx1, dy1 and dz1; drawing the curved transition through the end point of the first path, the start point of the second path, and the curve point such that the curved transition has an equal curvature between the end point of the first path and curve point and between the start point of the second path and the curve point and such that the curve point is the furthest point on the curved transition relative to the end point of the first path and the start point of the second path.