Quarlep said:
Let me be clear Let's suppose we are observing to objects one of them is moving 0.5c and the other one 0.2 c so there is relative velocity (Supoose these are the vectors and they are parallel)
I'm not sure I follow the question.
If you are observing two objects, one of which is moving at .5c and another at .2c, the velocities of the two objects are not parallel. You write "suppose these are the vectors and they are parallel". Interpreting "these" as the velocities of the two objects, they are not parallel, you cannot "suppose" that they are.
Parallel lines must have the same slope - parallel velocities must have the same velocity.
If you draw a third object moving at .5c, but at a different position than the first object, the first and third objects velocities will be parallel
If you draw a fourth object moving at .2c, but at a different position than the second object, the second and fourth object will have parallel velocities.
You can use the concept of rapidity
http://en.wikipedia.org/wiki/Rapidity to get a measure of velocity that you can add or subtract, this is additive in the same way that angles usually add it Euclidean geometry.
Using the concept of rapidity, you can say that the rapidity between the first object and the second object is equal to the sum of the rapidities of the two objects relative to yourself.
wiki said:
the rapidity φ corresponding to velocity v is φ = arctanh(v / c).
here arctanh is the inverse hyperbolic tangent, see for instance
http://mathworld.wolfram.com/InverseHyperbolicTangent.html. arctanh and ##\tanh^{-1}## are different notation for the same function.
The wiki article contains a proof that rapidities add, which would be one way of describing how the velocity composition rule in special relativity is derived. The proof is based on the Lorentz transform between different frames. The proof may or may not seem satisfying to you, I don't know. To do any sort of proof, I believe you will need some familiarity with the Lorentz transform - just being able to draw a space-time diagram is probably not sufficient, I believe that you need to understand the mathematics of how one transforms between frames before you can derive the velocity composition rule.