Question: symbolic manipulation of equation of motion (vectorial form)

I need to know how to compute and manupulate a symbolic equations in vectorial forms in maple. For istance, I need to compute the derivate of the following expression:

r1=T21r2

where ris a vector of three components, representing the position in the reference frame (RF) 1, T21 is the rotation matrix of RF2 w.r.t  RF1 and r2 is the position vector in RF2. In maple I need to derivate (in time) the expression twice to obtain the acceleration.

d(r1)=d(T2)r2 + T21d(r2)

I don't know which command is requested or how should I declare the variables. 

After this I need to substitute the expression:

d(T2) =(T2wo )x

where 'x' is the vectorial product and wo is the angular velocity of thr RF. Of course after the substitution I will need to derivate again the expression.

Is there a way to procede in maple? All this is needed to build a mathematical model of a body in space.

Thank you

EDIT: If the question is not clear, please let me know. This is my first contact with maple and perhaps I am not even understanding what I can do with this software

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