How about hand filing? its easy and gives you sharp definition. You only need to invest in a file and a few sheets of sandpaper.
Step 1:
Lay out the shape and position of the nick. Shown are the die sinkers files I use. They are shovel shaped, with one safe side. They are ground to a knife edge. A triangular or pointed, flat needle will work as well. They too will have to be ground to have one safe side, and a knife edge. This will enable you to get a clean sharp line at both ends of the nick.
Step 2: I then use a small cut-off wheel (Dremel) to rough ot the nick. Leave yourself lots of room for filing.
Step 3: Then carefully file to the outline you have scribed at the start. Use the sharp edge of the file at both ends of the nick to provide clear definition there.
Step 4: I use a sharpened piece of brass and various grits of sandpaper to remove file marks and finally polish the nick.
The entire process likely does not take much longer than setting up a machine, plus you end up with a clean, polished nick.
Works great, even in concave areas, you have complete control.
Wolfe