We demonstrated the generation of an azimuthally and radially polarized laser beam in a Nd:YAG laser in which a birefringent yttrium vanadate (c-cut YVO4) crystal was used as the intra-cavity polarization discriminator. AP and RP with respective output 2.4W (o-o efficiency of 35.4%, M2 = 2.3) and 2.52W (o-o efficiency of 37.2%, M2 = 2.4) were generated at absorbed pump power 6.78W. We discuss a simple method for converting between azimuthal and radial polarizations by only regulating input pump power and mechanism of mode selection in the laser. This vector laser will facilitate many applications.