Round a steel edge question

Lots of great ideas here, thanks to you all!

I should've added angle grinder and air cutoff tool to my list of what's in the chest. Also, have a 5" P-C disc sander I can use for cleanup.
 
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scary to think about but easy peasy in practice.
 
I'd like to round the end of a mild steel bar like I did the aluminum prototype beside it in the picture.

The aluminum one was done on a table-mounted router with a ball-bearing quarter round bit.

I don't have a mill: I do have a mini-lathe, drill press, bench grinder, metal cutting bandsaw, and metal dry cutting chop saw.

Any ideas for a way to take the vertical sharp edge off the steel bar somewhat like the aluminum?

Thanks

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I would rough in the rounded corners with the grinder then finish them with a file.

Like others have said a disc/belt sander does a great job for this.

Neither the grinder / file or disc / belt sander will give you perfectly radiused corners but it shouldn't be very difficult to get rounded symmetrical looking corners to the average eye.
 
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I think there is confusion about which radius we are talking about. Not the edges but the end.
No confusion at all.

Edge, end, inside a pocket, they work wherever you use them.

Unless your confusing them radiused endmills?
 
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