from sympy.physics.mechanics import ReferenceFrame, Vector, dot
from sympy import symbols
q1 = symbols('q1')
N = ReferenceFrame('N')
dot(N.x, N.x)
1
dot(N.x, N.y)
0
A = N.orientnew('A', 'Axis', [q1, N.x])
dot(N.y, A.y)
cos(q1)
How to do dot/cross multiplication of Vectors with Sympy