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Please, review the article on data-binding the RadRotator control - http://www.telerik.com/help/aspnet-ajax/rotator-data-binding.html. You can provide any IEnumerable type as a DataSource.
As far as how to get the images from Sharepoint is outside the scope of the Telerik ASP.NET AJAX controls, therefore I should advice you to contact the Sharepoint support or check online resources on the topic.
Hope this helps.
Browse the vast support resources we have to jump start your development with RadControls for ASP.NET AJAX. See how to integrate our AJAX controls seamlessly in SharePoint 2007/2010 visiting our common SharePoint portal.