The present disclosure relates to methods and systems for radiotherapy. Embodiments of the present disclosure may receive a medical image including images of a target and an organ at risk (OAR). Some embodiments may also receive a target dose and a constraint on an OAR dose. Some embodiments may also generate a dose application plan based on the target dose and the constraint. Generation of the dose application plan may include determining a placement of an arc along which radiation is to be applied based on the target dose and a location of the target; dividing the arc into a plurality of segments; determining a dose rate associated with each segment; calculating a predicted OAR dose based on the determined dose rate; and comparing the predicted OAR dose with the constraint on the OAR dose to determine whether the predicted OAR dose satisfies the constraint on the OAR dose.