Using video microscopy and particle-tracking techniques developed for dense Brownian systems of polygons, we study the structure-dynamics relationship in a near-equilibrium 2D glass consisting of anisotropic Penrose kite-shaped colloids. Detailed vibrational properties of kite glasses, both translational and rotational, are obtained using covariance matrix techniques. Different from other colloidal glasses of spheres and ellipsoids, the vibrational modes of kite glasses at low frequencies show a strong translational character with spatially localized rotational modes and extended translational modes. Low-frequency quasilocalized soft modes commonly found in sphere glasses are absent in the translational phonon modes of kite glasses. Soft modes are observed predominantly in the rotational vibrations and correlate well with the spatial distribution of Debye-Waller factors. The local structural entropy field shows a strong correlation with the observed dynamic heterogeneity.