Defining a vector in cylindrical coordinates with respect to the origin is permissible, as it extends the concept of polar coordinates by adding a z-component. A position vector can be expressed as (r, θ, z), representing a point in space, and can be written using unit vectors corresponding to cylindrical coordinates. However, the direction of the unit vectors is dependent on the reference point, and care must be taken when performing vector addition. The discussion emphasizes the importance of correctly representing vector addition rather than simply combining cylindrical coordinates. Overall, the conversation highlights the nuances of vector representation in cylindrical coordinates.