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Abstract Since its inception, the frequency diverse array (FDA) has attracted extensive attention and research because of its unique properties. However, most of the research primarily focuses on linear geometry FDA, with fewer studies on planar FDA. This letter proposes a design method based on planar rectangular FDA (PRFDA), which adjusts the frequency of each array element nonlinearly so that the beam direction of planar rectangular FDA can change linearly or nonlinearly with time, forming the desired transmit beampattern. Theoretical analysis and simulation results verify the effectiveness of the proposed method.