During the late 70's and early 80's the IDF was left with numerous intact Sho't Kal hulls without the turrets. It was decided to develop an armored personnel carrier which would offer greater protection than M113 and M3 Halftrack APC's, using the Sho't Kal hulls as a basis. The vehicle evolved into the NagmaSho't (acronym for Nagmash and Sho't. Nagmash itself is an acronym for Noseh Guysot Meshoryan and sho't meaning whip). The vehicle wasn't really suited as an armored personnel carrier as the mounted infantry had to expose themselves while dismounting from the vehicle. It found good use with Combat Engineers as an engineering vehicle and a carrier for its sappers.

From the NagmaSho't the Nagmachon was developed, being intended from the outset as a COIN (Counter Insurgency) platform. Nagmachon is an acronym for Nagmash (APC) and gashon (belly).

The Nagmachon, like its predecessor the NagmaSho't, is a converted Sho't Kal hull, substituting the turret for a fixed superstructure. As the name implies, the belly is reinforced by at least two plates of steel armor for better protection against detonating belly-charges. The Nagmachon can be distinguished from its predecessor the NagmaSh'ot APC by the addition of more E.R.A.-panels (Explosive Reactive Armor ~ Blazer) and the heightened driver's position.

Also, the Nagmachon is equipped with formidable side skirts (bazooka plates), made up of E.R.A.-panels. The rear most pair are made of metal armor plates which are hinged to tilt upward. This is meant to offer some protection from small arms fire for disembarking troops.

The Nagmachon can be equipped with several engineering devices on its glacis, including mine-breaching devices such as Nochri and Magov anti-mine systems. Along with its heavy belly armour plate, this makes it an ideal platform for breaching routes through mine-fields and booby-trapped areas. Although the vehicle can be used to perform engineering tasks, it is mostly used with infantry forces.

Because of the exposure of the crew to enemy fire, three armor panels were attached to the superstructure's roof. These panels were equipped with vision blocks of armored glass. Between the panels, two pintle-mounted 7,62 FN MAG machine guns were placed.

The Nagmachon is equipped with four IS-10 grenade launchers. These contain ten grenades each of the CL-3030 type, being smoke grenades. Unconfirmed reports state that other charges can also be fired from these IS-10's.

Afterward, the Nagmachon was again re-equipped with a very notable pillbox on top of the fixed superstructure, providing all round protection. This pillbox features shooting-slights for 7.62 mm FN MAG machine guns as well as vision blocks, enabling the troops inside to shoot soft targets. This latest feature makes the Nagmachon very suitable for MOUT-tasks (Mission On Urban Terrain) and security patrols.

The Nagmachon has seen extensive use, not only from the latter part of the eighties until the final withdrawal from the Lebanon, but also during the Al-Aqsa Intifadah, which continues to this day. Beside of opening routes to other AFV's and patrolling in hostile populated areas it was also employed to carry mechanised infantry in the Palestinian territories. Because of their elevated turret, Nagmachons are often seen supervising, securing and escorting the D9 & D10 Caterpillar bulldozers in the urban battle zones and under fire.