Other forms: rectilinearly
In math, a rectilinear shape is made up of straight lines. A square and a rectangle are both rectilinear.
Rectilinear is used to mean "straight," so if something moves in a straight line, it has rectilinear motion. A photographer's rectilinear lens reflects images accurately, so their straight lines don't appear curved. This word comes from the Latin root rectus, meaning "straight." In geometry, the meaning goes beyond that — a rectilinear polygon has straight sides that meet at a 90 degree angle. So from your geometry teacher's perspective, a rectangular speed limit sign is rectilinear but an octagonal stop sign is not.