Brennan,
V = [0 2.0840 -8.6160 -0.5878 2.3511; 12.0000 2.1580 21.3252 -0.8090 3.2361]';
startPoints = cumsum(V);
startPoints = [0 0; startPoints(1:end-1,:)];
quiver(startPoints(:,1),startPoints(:,2),V(:,1),V(:,2),0);
The last argument to quiver (scale = 0) turns off auto-scaling of the vector lengths.
Hope this helps.