As an inherent feature of vector optical field, the spatial distribution of polarization brings additional degrees of freedom to engineer the optical field and control the interaction between light and matters. Here we focus on the variation of polarization in single vector optical field, which can be defined by the trajectory on the Poincaré sphere. Based on the amplitude-phase-polarization joint modulation method we propose, vector optical field, whose variation of polarization follows arbitrary circular trajectory on the Poincaré sphere, can be generated. Moreover, the tightly focusing behaviors of the vector optical fields with the polarization varying along parallel circles on the Poincaré sphere are compared. Relations between the circular trajectory and the central intensity of the hollow focal field are concluded.