Subwoofers use a voice coil in combination of a lrage magnet motor structure to make the cone move inwards and outwards. Subwoofer cones generally do get warm because of the tremendous amounts of electrical energy that is being created during this process. As a result of using your subwoofer for long durations the voice coil generates excessive heat. However, if its too warm to touch then you are most likely over powering it slightly and are pushing its mechanical limits. Another sign would be that you can smell an electrical mechanically smell from the sub. So i would suggest you please ensure that the RMS wattage rating for the car amplifier is matched according to specification with the type of driver you are using.
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