This paper discusses the mechanism behind the grinding force decrease associated with ultrasonication of the grinding wheel in constant-depth-of-cut ultrasonically assisted grinding (UAG). By introducing a grinding model describing the cutting trace of an abrasive grain, an equation relating the grinding force decrease to such process parameters as the amplitude and frequency of vibration and the grinding wheel speed, is established. Experiments are conducted to confirm the theoretical prediction. Theoretical and empirical results both indicate that the decrease in grinding force is due to the grinding chips becoming smaller and fracturing more easily under ultrasonication. The results also suggest that the grinding force decrease is greater at higher vibration amplitudes and at lower grinding wheel speeds.