No, there’s not. But you could do it by reshaping your vector to look like a matrix (no memory copy there, just stride tricks):
M_batch = ... # batch x dim1 x dim2
v = ... # dim2
v_view = v.unsqueeze(0).expand(-1, len(v)).unsqueeze(2) # batch x dim2 x 1
output = M_batch.bmm(v_view) # batch x dim1 x 1
# optionally output.squeeze(2) to get batch x dim1 output