Using the excellent broadcasting rules of numpy you can subtract a shape (3,) array v from a shape (5,3) array X with 
X - v
The result is a shape (5,3) array in which each row i is the difference X[i] - v.
Is there a way to subtract a shape (n,3) array w from X so that each row of w is subtracted form the whole array X without explicitly using a loop? 
 
    