A milling assembly can be delivered downhole on wireline. Once at the desired location, a processor extends centralizing and driving wheels to initially position the assembly. The assembly has a cutter end with one or more mills or cutters that can be selectively radially extended. The entire cutter end can be rotated in an arcuate manner over a predetermined range. One or more cutter can be extended at a time and driven. The wheels are driven either in an uphole or downhole direction at the same time the arcuate motion can take place. Using a processor, different shapes in a surrounding tubular can be made such as windows for laterals, a plurality of openings for production or interior locator surfaces to properly position subsequent equipment with respect to openings already made by the device.