[SciPy-User] array of matrices

I want to create an array, call it R, of matrices [M1,M2, M3, ...] . So R is 3D. If v is a (column) vector, then np.dot(M1,v) matrix-multiples v by M1, and produces another (column) vector. I want R to be shaped so that np.dot(R,v) produces an array of column vectors [M1*v, M2*v, M3*v, ...] Specifically, I want to define a function that resembles: def rot_2d(theta): return np.array([[np.cos(theta), -np.sin(theta)], [np.sin(theta), np.cos(theta)]]) that works even if theta itself is an array. np.dot(rot_2d(np.array([0,np.pi/2,np.pi]),np.array([1,0]) produces an array like [ [1,0], [0,1], [-1,0] ]. Thanks! Gustav