The experimental quantification of the bone removal characteristics associated with bone burring represents a desirable outcome mainly for the selection of optimal parameters. An experimental apparatus was developed that allowed for concurrent measurement of three outputs associated with the bone removal process (cutting force, vibration, and temperature) as a function of various burring-specific parameters. Initial process trends were established on a uniform sawbone analog through use of a fully balanced multivariate statistical analysis. A smaller set of optimal and suboptimal parameters were further validated using a porcine femur. From the parameters tested, an optimal tool configuration, to avoid high temperature and high vibration, was found to be a 6 mm sphere burr at a rotational speed of 15,000 rpm, feed rate of 2 mm/s and a path overlap of 50%. This set of parameters also provided flexibility in tool depth/orientation angle relative to the bone without sacrificing optimal process outcomes.