In a viscous incompressible fluid, the hydrodynamic forces acting on two close-to-touch rigid particles in relative motion always become arbitrarily large, as the interparticle distance parameter $varepsilon$ goes to zero. In this paper we obtain asymptotic formulas of the hydrodynamic forces and torque in $2mathrm{D}$ model and establish the optimal upper and lower bound estimates in $3mathrm{D}$, which sharply characterizes the singular behavior of hydrodynamic forces. These results reveal the effect of the relative convexity between particles, denoted by index $m$, on the blow-up rates of hydrodynamic forces. Further, when $m$ degenerates to infinity, we consider the particles with partially flat boundary and capture that the largest blow-up rate of the hydrodynamic forces is $varepsilon^{-3}$ both in 2D and 3D. We also clarify the singularities arising from linear motion and rotational motion, and find that the largest blow-up rate induced by rotation appears in all directions of the forces.
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