import sympy as sm
import sympy.physics.mechanics as me
me.init_vprinting()

A = me.ReferenceFrame('A')
B = me.ReferenceFrame('B')

theta = me.dynamicsymbols('theta')

B.orient_axis(A, theta, A.y)

Q = 3*me.outer(B.x, A.z) + 4*me.outer(A.x, A.x) + 6*me.outer(A.z, B.z)

print(Q)

print(Q.express(A))

print(Q.express(B))

print(Q.to_matrix(A))

print(Q.to_matrix(B))