[Numpy-discussion] vectorized multi-matrix multiplication

I have two lists of 3x3 arrays and I would like to compute the matrix product of the i-th element in the first list with the i-th element in the second list. Of course, I could just loop over the lists:

for i in range(n): out[i] = dot( matrices1[i], matrices2[i] )

However, the list is quite long, and each matrix is very small (3x3) so this turns out to be quite slow. Is there a way to do this with a single numpy call? I have looked at tensordot but it outputs an N x N x 3 x 3 array, whereas I want an N x 3 x 3 output. I've also looked at various broadcasting tricks but I haven't found anything that works yet.

Alex