Due to its light weight and high strength, carbon fiber reinforcement resin based composite (CFRC) has been widely used in aerospace, military, and many other industries. As the manufacturing technology develops, the geometry of CFRC components has seen significant changes, such as closed surface from the traditional open surface, or quite sophisticated topologies from simple shapes. As a result, fabrication of CFRC is confronted with challenging issues related to the design of fiber placement trajectory for optimal performance. In this paper, a trajectory generating algorithm is proposed based on the centroid curve of a quasi-rotational structure, where the centroid curve is the connection of centroids of the cross-sections of the structure. After the centroid curve of the component is achieved, the cross-section profiles perpendicular to the centroid curve can be determined. An efficient number of profiles are identified to avoid any overlap among neighboring profiles along the centroid curve. In this manner, the essential data for ultimate trajectory design are eventually obtained that can precisely reflect placement angles. The present work will effectively enhance the accuracy of trajectory of fiber placement and promote the mechanical property of CFRC components.