Surface morphology evaluation of multi-angle 2D ultrasonic vibration integrated with nanofluid minimum quantity lubrication grinding

•Kinematics model and simulation of grain/workpiece relative motion in 2D UVAG at different θ were developed.•Grain’s cutting characteristics were conducive to the full infiltration of nanofluids into the grinding zone.•The surface characterization of multi-angle 2D UVAG coupled with NMQL was evaluated experimentally.•The results showed that the optimal θ was achieved at 45° due to differential cutting action of follow-up grain.•Autocorrelation function curves presented periodic and continuous local oscillation under the conditions of θ=45°.