Lemon Balsamic Rosemary Skewered Vegetables

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1 medium to large zucchini cut in half lengthwise, then into 1/2-inch slices

1 medium to large yellow squash, cut in half lengthwise, then into 1/2-inch slices

1 pint cherry tomatoes, washed and tops removed

1 lemon, juiced

2 tablespoons balsamic vinegar, eyeball it

3 tablespoons extra-virgin olive oil, eyeball it

Salt and pepper

16 stems fresh rosemary, 6 to 8-inch lengths