In skillet heat the remaining 1 Tbsp. oil over medium-high. Add zucchini, shallots, pepper, and the remaining garlic clove and 1/4 tsp. salt. Cook 3 to 4 minutes or until zucchini is light brown, stirring occasionally. Add the water, rosemary, and the remaining 2 Tbsp. lemon juice, stirring to scrape up crusty brown bits. Stir in cooked orzo; heat through.