If i understood right, what you want, you can simply use a
positioninterpolator and a orientationinterpolators with the values
from the viewpoint as start and end values. E.g.

#VRML V2.0 utf8

DEF Viewpoint1 Viewpoint
 {
 orientation 0 -1 0 0.142949
 position 0 -0.847810 9.943069
 description "moving"
 }

Transform
 {
 children
   [
   Shape
     {
     appearance       Appearance
       {
       material        Material
         {
         }
       }
     geometry       Cylinder
       {
       }
     }
   ]
 translation -4.251791 -3.051850e-2 -0.446307
 }

Transform
 {
 children
   [
   Shape
     {
     appearance       Appearance
       {
       material        Material
         {
         }
       }
     geometry       Cone
       {
       }
     }
   ]
 translation 4.695546 0 0
 }

Transform
 {
 children
   [
   Shape
     {
     appearance       Appearance
       {
       material        Material
         {
         }
       }
     geometry       Sphere
       {
       }
     }
   ]
 translation 0 4.117030 0
 }

Transform
 {
 children
   [
   Shape
     {
     appearance       Appearance
       {
       material        Material
         {
         }
       }
     geometry       Box
       {
       }
     }
   ]
 translation 0 0 -17.250835
 }

DEF PositionInterpolator1 PositionInterpolator
 {
 key
   [
   0
   1
   ]
 keyValue
   [
   0 0 9.920000
   0 -2.939999 10
   ]
 }

DEF OrientationInterpolator1 OrientationInterpolator
 {
 key
   [
   0
   1
   ]
 keyValue
   [
   0 -0.999997 0 5.235927e-2
   0 -1 0 0.366519
   ]
 }

DEF From Viewpoint
 {
 orientation 0 -1 0 5.235927e-2
 position 0 0 9.920000
 description "From"
 }

DEF To Viewpoint
 {
 orientation 0 -1 0 0.366519
 position 0 -2.939999 10
 description "To"
 }

DEF TimeSensor1 TimeSensor
 {
 cycleInterval 1.960000
 loop TRUE
 }

ROUTE TimeSensor1.fraction_changed TO OrientationInterpolator1.set_fraction
ROUTE TimeSensor1.fraction_changed TO PositionInterpolator1.set_fraction

ROUTE OrientationInterpolator1.value_changed TO Viewpoint1.set_orientation
ROUTE PositionInterpolator1.value_changed TO Viewpoint1.set_position