A rotating neodymium-doped yttrium aluminum garnet (Nd:YAG) disk laser resonator for efficiently generating vector beams with azimuthal and radial polarization is demonstrated. In the study, the laser crystal rotary for thermal alleviation and polarization discrimination uses c-cut ytterbium vanadate (YVO₄). The laser output could be switched between azimuthal and radial polarizations by simply adjusting the cavity length. The laser power reached 4.38 W and 4.64 W for azimuthally and radially polarized beams at the slope efficiencies of 45.3% and 48.5%, respectively. Our study proved that an efficient, high-power vector rotary disk laser would be realistic.