Thinking about the relationship:

• An arch is the key structural element in a (stone/masonry) bridge — it defines and enables the bridge's spanning ability.
• A dome is the key structural/spatial element that defines a rotunda — a circular room covered by a dome.

A rotunda is specifically a round building or room topped with a dome. Famous examples: Pantheon (Rome), US Capitol Rotunda.

A pendentive is the transitional element between a square base and a dome — not the completed building type. A vault is a different structural form. A minaret is a tower.