Participants (N = 13) made reach-to-grasp movements to an elongated object with or without a forearm pronation movement. Grasp and transport components of movements performed without forearm pronation differed from those performed when participants preplanned forearm pronation. The transport distance traveled after peak aperture (aperture closure distance) was unchanged, however, suggesting that participants initiated aperture closure on the basis of the distance of the hand from the target. When they suddenly pronated the forearm in response to a perturbation, aperture kinematics were altered from a monophasic to a biphasic profile and aperture closure distance was shortened. Conversely, a sudden reorientation to a nonpronated position minimized those changes. Thus, the relationship between transport and aperture components is differentially altered depending on online reorientation of the forearm.