In grinding, regenerative-vibration and forced-vibration due to grinding wheel eccentric rotation are main excited-vibration sources that interact with grinding material removal mechanism. In the paper, instantaneous undeformed chip thickness in down-grinding cutting phase may consist of two components, i.e. linear kinetic thickness and nonlinear dynamic thickness. Considering abrasive grit-workpiece interaction in the grinding contact zone, the grinding vibration system is presented by a new set of differential equations of two degrees of freedom (DOF) with a close-loop feedback control system models. Conventional grinding control parameters, including wheel spindle speed, work-speed in feed direction and radial cutting depth, are often regarded as linear constants in many existing simplified models. When considering time delay, they can be transferred to nonlinear variables, so the capability of prediction and the accuracy of solution of the grit-workpiece dynamics performance are improved. Based on quantitative comparison of force and vibration magnitudes, the influence of the eccentric rotation of abrasive wheel and the negative rake angle of working grit cutting edges on grinding performance are demonstrated in the paper.