This paper presents a method for solving the dynamic stress concentration of two-dimensional curved rods with circular cross section and infinite length subjected to in-plane bending wave excitation. In this analysis, the exact solution of the equilibrium equations for curved rods has been obtained, and the transfer matrix, based on the exact solutions with consideration of the inertia forces has been derived. At discontinuous sections, solutions of curved and straight rods have been connected by adjusting the boundary conditions. As examples, stress concentration factors in circular, elliptical and parabolic rods with circular cross sections have been calculated.