Yes, you may. You need an Intercity Direct supplement for the Schiphol-Rotterdam route or vice versa. You can easily purchase the supplement at the supplement kiosk on the Intercity Direct departure platform.
Hold your card in front of the card reader at the supplement kiosk. This is how you pay for a one-way Intercity direct journey. On the arrival platform you no longer have to do anything at the supplement kiosk. You do have to check out at the NS gates or poles for your normal train journey.
If you also travel by Intercity Direct, you can buy another Intercity Direct one-way ticket at the supplement kiosk. The Amsterdam-Schiphol and Breda-Rotterdam route is free of surcharge.