In this paper, a cluster-based three-dimensional (3D) non-stationary vehicle-to-vehicle (V2V) channel model with circular arc motions and antenna rotates is proposed. The channel model simulates the complex urban communication scenario where clusters move with arbitrary velocities and directions. A novel cluster evolution algorithm with time-array consistency is developed to capture the non-stationarity. For time evolution, the birth-and-death (BD) property of clusters including birth, death, and rebirth are taken into account. Additionally, a visibility region (VR) method is proposed for array evolution, which is verified to be applicable to circular motions. Based on the Taylor expansion formula, a detailed derivation of space-time correlation function (ST-CF) with circular arc motions is shown. Statistical properties including ST-CF, Doppler power spectrum density (PSD), quasi-stationary interval, instantaneous Doppler frequency, root mean square delay spread (RMS-DS), delay PSD, and angular PSD are derived and analyzed. According to the simulated results, the non-stationarity in time, space, delay, and angular domains is captured. The presented results show that motion modes including linear motions as well as circular motions, the dynamic property of the scattering environment, and the velocity of the vehicle all have significant impacts on the statistical properties.