Swindon started well, but fell behind after 24 minutes after a goal from Vincent. Lucas had made two saves, but on the third attempt Vincent was able to score from a tight angle.
Charlie Austin went close for Swindon, who also hit the bar in the first half.
Mid way through the second half Wordsworth scored to make it 2-0 from 20 yards out.
Then deep into injury time Wordsworth made it 3-0 after some poor Swindon defending.
The defeat leaves Swindon in 4th place going into Monday's night's home game against Exeter City.