AA and AAA batteries do not last the same amount of time with the same power. The voltage is the same, but the amperage, which determines how long it can handle a load (basically, don't nitpick, I know the difference), is different. D batteries last much much longer.
Actually, I don't know about regular Alkaline, but NiMH rechargeables for both AA/AAA and D both seem to have about the same current-time rating (~2500 mAh) so in that respect they should have about the same power.
One question I had, which I wasn't quite able to discern from your writeup, was whether or not you were connecting the two 7.2V batteries in series or parallel. Also, what kind of battery life are you getting from that setup? When I get my hands on a Vulcan I'd like to do a similar battery mod, but I was wondering if it would be better to just get a higher voltage battery (9.6V or something) rather than buy two lower voltage ones.
Typical capacity of a single (decent quality) D battery is about 12,000 mAH (link).
Yeah, I looked it up a bit after I posted and found that was true for alkaline batteries, though the consumer-grade rechargeables (Energizer, Duracell, Rayovac, etc) seem to only have around 2500 mAh apiece, which seems kind of lame, to be honest. To get something around 10,000 mAh you have to get industrial-grade NiMH, which cost a fortune (~$20 apiece).
And thanks for the info about the connection. I figure it was probably series, but I wasn't sure if running the motor at that high of a voltage was a good idea.