data = np.array([[[1, 1, 1, 1], [2, 2, 2, 2], [3, 3, 3, 3]], [[3, 3, 3, 3],
    [4, 4, 4, 4], [5, 5, 5, 5]]])
vector = np.array([10, 20])
np.einsum('ijk,i -> jk', data, vector)
Numpy - Dot Product of a Vector of Matrices with a Vector of Scalars