Cook penne to desired doneness as directed on package. Drain; cover to keep warm.
Meanwhile, spray large nonstick skillet with nonstick cooking spray. Heat over medium-high heat until hot. Add pork and garlic; sprinkle with salt, rosemary and pepper. Cook and stir 3 minutes or until pork is lightly browned.
Reduce heat to medium. Add broth, zucchini and bell pepper; simmer about 5 minutes or until pork is no longer pink and vegetables are crisp-tender. Remove skillet from heat; stir in vinegar.
Add cooked penne to pork mixture; toss gently to mix well. If desired, serve with additional freshly ground black pepper.