In order to remove mid-spatial frequency errors on aspheric and freeform surfaces, we have developed an aspheric smoothing tool which, unusually, is rigid. This has been proved feasible in the special case where the abrasive grit size exceeds the aspheric misfit, providing a cushion. Firstly, experimental parameters were derived from simulation of Influence Functions regarding misfit between the tool and the surface, which leads to dynamic Influence functions. Then the experimental part was polished into an aspheric surface from generated spherical surface. Thirdly, the choice of tool’s shape parameters was completed with optimisation of conic constant and tilt angle. The tool was machined into aspheric shape with a single-point cutter. Finally, experiments were carried out to compare this tool with a standard spherical smoothing tool. The results showed that this aspheric smoothing tool can removal mid-spatial errors effectively on aspheric surfaces.