1. A radiotherapy system, comprising: a memory storing computer executable instructions; a processor device communicatively coupled to the memory, wherein the processor device is configured to execute the computer executable instructions for: receiving a medical image of a patient, the medical image including images of a target and an organ at risk (OAR); receiving a target dose to be received by the target and a constraint on an OAR dose to be received by the OAR; and generating a dose application plan based on the target dose and the constraint on the OAR dose, including: 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 associated with each segment; 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.