Hi, First of all, I'm quite new to Maple and here, so I hope you will be patient with me..ehhehe. I've been struggling some days creating abstract vectorial equations with no luck. The equations have vectorial components as well as a matrix, it is the equation of motion, i.e: Inertia * dw/dt + w x Inertia.w = T Inertia is a matrix that I dont want to define now, and most of all I dont want to spread out its components, so it has to be all the time "Inertia". w is a angular speed vector and T is the Torque vector. Neither I want w to be defined or component separated (wx,wy,wz) at this point since I need to work with w for some change of coordinates .i.e w = w1 + ww1 . So I need to work in this abstract level.