Highly oriented beam steering will enhance power density and field of view (FOV) in terahertz wireless links. Metasurface can be constructed by deliberate arrangement of subwavelength meta-cells to manipulate the wavefront. This paper explores a dispersive metasurface with a specific phase gradient patterned in a 2-inch aperture, allowing for collimated beamforming and two-dimensional (2D) beam steering by a combination of frequency tuning and metasurface rotation. The metasurface is directly fed by a horn antenna, ensuring a compact integration. Simulation and experiment in the 80-110 GHz band revealed that the gain band crucial for FOV and efficiency is mainly constrained by the nonlinear phase dispersion of the meta-cells. Efforts to optimize the phase linearity resulted in a more efficient metasurface with a gain of 35.7 dBi and an efficiency of 76.6% at 400 GHz. A FOV of 22.5° in the elevation was guaranteed with gain in the 325-500 GHz band (a bandwidth of 42.4%). Imaging of two scattering balls was demonstrated at a distance of 4.1 meters by using the metasurface for 2D beam steering.