Rotary Ultrasonic Machining (RUM) is a productive and successful tool used for cutting and machining of fiber-reinforced polymer composites. Fiber-reinforced polymer composites have great applications which have been extensively used in aircraft workings, marine, automotive components and sporting goods. The primary machining operation is surface machining which is the most recurrently employed process on fiber-reinforced composites. However, some challenges like rough surface quality, short tool life, low machining precision and rough edges have not yet discover general applications. The ultrasonic frequency and amplitude both affect the ultrasonic vibrations. Different input parameters such as feed rate, tool rotation speed, depth of cut and ultrasonic power affect on output parameters such as removal rate of material, tool wear and surface roughness which have been studied in this research. The available literature on different machining parameters help in finding research gap in rotary ultrasonic machining process. The consequences of input machining parameters on material removal rates and surface roughness are the key findings of this research.