Visually guided, goal-directed reaching requires encoding action dista
nce and direction from attributes of visual landmarks. We identified a
cognitive mechanism that seemingly performs visual motor extension be
fore action initiation and replicated and extended previous results th
at identified a mechanism for visual motor mental rotation. We find th
at humans systematically delay action onset while newly planning incre
asingly distant arm movements beyond a visual landmark, consistent wit
h an internal representation for visual motor extension. Onset times a
lso changed systematically during concurrent mental rotation and visua
l motor extension computations required to process new directions and
distances. Visual motor extension associated with reaching slowed when
participants needed to plan action direction within the same time fra
me, whereas mental rotation efficiency was unaffected by concurrent ne
eds to prepare action distance. In contrast to parallel direction and
distance computations needed for direct aiming to a visual target, the
planning of new directions and distances likely occurs at distinct ti
mes. When considered with previous findings, the current results sugge
st the existence of an intermediate component of motor preparation tha
t engages a covert mechanism of cognitive motor planning.