rotating linear axis

I am working on a machine that has me a little perplexed. I have a linear axis and then the linear axis is on a rotational axis. So to get X,Y motion the machine rotates a single linear axis. I know it is a weird way of doing things, but it fits the form factor of my design. I don't have room for the corners of a typical X,Y machine.

I used LinuxCNC back when it was EMC2 to drive my cnc plasma table and that was very straight forward. I can't figure out how I would drive the new machine. Much less generate GCode. I guess I might just have to use a axis function and an X function and then write a custom GCode processor.

Are there any tools that could possibly make this easier?