Rigatoni Pizza Stew

-1 lb. Italian sausage links, cut into 1/4 inch slices
-1 can (14.5 oz) Italian style stewed tomatoes, undrained
-1 can (14 oz) beef broth
-1 cup water
-1/4 cup Italian style tomato paste
-1 medium onion, coarsely chopped (1/2 cup)
-2 medium carrots, cut into 1/2 inch slices (1 cup)
-1 1/2 cups uncooked rigatoni pasta (4 1/2 oz)
-1 medium zucchini, cut lengthwise in half, then cut crosswise into 1/4 inch slices (2 cups)
-1/2 cup shredded mozzarella cheese

Cook sausage over medium heat about 8 minutes, stirring occasionally, until no longer pink; drain. Stir tomatoes, broth, water, tomato paste, onion, and carrots into sausage. Heat to boiling; reduce heat to medium-low. Cook about 10 minutes or until carrots are tender. Stir in pasta and zucchini. Cook 10-12 minutes, stirring occasionally, until pasta is tender. Serve topped with cheese.