Plotting multiple 2D vectors onto one plot

I am making a script to find linkage solutions, and I would like to find a way to plot the vector outputs so I can see the physical solution without having to manually draw it every time for confirmation. The initial vectors are complex coordinates, but they're easy enough to decompose with imag() and real()

Some vectors would also have to connect to the tails of other vectors, so the vectors can't all come from the origin. The only thing I've seen like this so far is "quiver," but I believe that will only plot a single vector.

An example, where ZaS extends from WaS, likewise for b, and ZaS and ZbS meet at their tips: WaS =

   9.6609 - 0.7178i

WbS =

   4.8898 + 2.1200i

ZaS =

   3.1022 - 5.8623i

ZbS =

   0.0858 - 6.6772i