The purpose of this paper is to solve the problem of designing a shaving cutter for plunge shaving a topologically modified involute pinion. Application of topologically modified pinion allows noise reduction. Due to the desired topologically modified pinion tooth surface is determined not analytically, and discretely by a grid of points, the problem under consideration cannot be solved by direct application of methods developed in theory of enveloping surfaces. A modified kinematical approach is developed to establish one-to-one correspondence between points that determine tooth surface of a pinion to be machined, and points that determine tooth surface of a shaving cutter to be applied. The developed approach is based on ideas, which could be traced back to publications by E. Buckingham. The following three considerations are essential: a) tooth surface of an initial nonmodified pinion, b) desired deviations of the topologically modified pinion tooth surface relatively to the nonmodified pinion tooth surface, and c) relative motion that shaving cutter performs in gear finishing operation. Consequently, the algorithm, and software for computing coordinates of points, which determine the modified gear-shaving cutter tooth surface is developed.