I did cut a spline on a steel shaft to fit a steering wheel. It was only about 1/2" diameter, and I used an 1/8" end mill, so the cutting force was not enough to be a problem.
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To some extent the stiffness would depend on how stiff your machine is. I have considered adding a brake, perhaps something along the lines of a bicycle disc brake with an air cylinder to actuate it.
Bob

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