Add the carrots, mushrooms, onions, garlic, vinegar and Worcestershire sauce and stir together. Continue to cook for another 5 minutes, stirring occasionally or until vegetables are softened. Add the water, tomato sauce, diced tomatoes, tomato paste, brown sugar and cayenne pepper and stir together. Bring to a boil and then reduce heat to low. Cover the pot and simmer for 15-20 minutes.