If you could paint on your IR reactive solution, then wash it off,
would that work for you?
What about photo resist coating, and etching your wood away with a spray et=
cher.

What about using your x-y plotter with a spring loaded pen with high
compliance range to either
draw directly on the wood, or use carbon paper method?

Another possibility would be R/C servos to drive an arm in polar
coordinates, to trace your
guide lines.

And the 'reverse the idea' method. Drive your cutting tool in x-y-z to
cut the shape and contours
you want?

R
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