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Control over scale, dynamic, environment, and geometric errors in 5-axis machine tool are required to realize a high precision machine tool. Especially geometric errors such as translational, rotational, offset, and squareness errors are important factors which should be considered in the design stages of the machine tool. In this paper, geometric errors are evaluated for different configurations of 5-axis machine tool, namely, 1) table tilting, 2) head tilting, and 3) universal and their error synthesis models are derived. The proposed model is different from the conventional error synthesis model since it considers offset and offset errors. The volumetric error is estimated for every configuration with random geometric errors. Finally, the best configuration, the critical design parameter and error are suggested.