In theory this can be calculated IF you know the CURRENT (amps) the motor pulls when connected properly to a 4.8V supply. BUT I will say up front, it's a bad idea and will comment a little on why later.
You want to drop from 7.2 to 4.8 volts, a drop of 2.4 volts. Ohm's law says V=IR. So, to drop 2.4 volts the value of R, the resistor, must be 2.4/I, where I is the amperes flowing in the circuit. Now, suppose the vac motor is pulling 4 amps (a pretty modest current); then the R value is 0.6 ohms. That is not an easy one to get. But hold on, there's another factor to consider. The resistor will be dropping 2.4 volts with a current of 4 amps, so it will be converting that much power into heat that must be removed to avoid overheating the resistor. How much? Well, P=VI; that is, power (heat) is 2.4 x 4 = 9.6 watts. You need a resistor of 0.60 ohms able to handle over 10 watts power.
Now, even supposing you can do that, here's where the complications start. The voltage dropped across the resistor (and hence, the remaining voltage actually available to the motor) is IR. Any time the motor needs extra current (higher I), the resistor will drop even more voltage than before, thus reducing the motor's supply voltage just exactly when it needs all that voltage and current! When? Well, at start-up, for one time. And any time it needs to do extra work. Think about how often a vacuum cleaner motor sounds like it is straining to work hard. To make matters worse, a motor is an inductive load. Its effective "resistance" comes about because it generates internally a "back-emf" that opposes the supplied voltage, and this depends on the motor speed. So a motor that runs into heavier load slows down slightly, reducing the back-emf and thus experiencing a higher driving voltage, causing more current to flow through it and allowing it to do extra work and then speed back up. But if you have a resistor in the voltage supply line, that higher current flowing through the motor will result in MORE voltage drop across the resistor, and LESS voltage available to the motor under these conditions. In certain cases, the motor thus deprived of the required voltage will slow down even more, trying to use more current to speed up, but it won't - it may just STALL!
Why not use the proper battery in the first place? Or a 7.2V motor?