Learning a motor skill is essential for many aspects of our lives. The complexity of some of these activities makes it hard for novices to understand through observation. Calligraphy writing is one such artistic practice where learners compare the visual differences in their writing and the static expert manuscripts and adjust until they have achieved similar results. We propose an accessible plotter-based system that guides the learner’s arm movement in three axes with an actuated brush. It converts Chinese calligraphy manuscripts to G-code that reproduces the calligrapher’s movement. Through a user study with twelve novice calligraphy learners, we validated the efficacy of our system as a learning tool that allows novice learners to gain an intuition of nuanced skills such as depth variation more effectively compared to watching a video recording of the same movement.