Compiler error: “Missing $inserted” [closed] I have got the following equation in Latex. During compilation, the compiler complains about "Missing$ inserted". Unfortunately I am not able to find any error. Any ideas?

\begin{dmath} \frac{d^2\boldsymbol{cv}(\boldsymbol{x})}{dt^2}=\frac{d}{dt} \left \{ \frac{d\boldsymbol{cv}(\boldsymbol{x})}{dt} \right \}=\frac{d}{dt} \left $N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta}) \right$=\frac{\partial }{\partial x}\left $N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta}) \right$\dot{\boldsymbol{x}}=\frac{\partial }{\partial x}\left $N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta}) \right$\left \{ \begin{bmatrix}
N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta})\\
-J^{-1}\boldsymbol{\omega }\times J \boldsymbol{\omega}
\end{bmatrix}+\begin{bmatrix}
0_{3 \times 3} & 0_{3 \times 3}\\
J^{-1} & J^{-1}
\end{bmatrix}\begin{bmatrix}\boldsymbol{T}_d \\ \boldsymbol{T }_c\end{bmatrix} \right \}=
\frac{\partial }{\partial x}\left $N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta}) \right$\left \{ \begin{bmatrix}
N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta})\\
-J^{-1}\boldsymbol{\omega }\times J \boldsymbol{\omega}
\end{bmatrix}+\begin{bmatrix}
0_{3 \times 3} & 0_{3 \times 3}\\
J^{-1} & J^{-1}
\end{bmatrix}\begin{bmatrix}\boldsymbol{T}_d \\ \boldsymbol{T }_c\end{bmatrix} \right \}=\frac{\partial }{\partial x}\left $N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta}) \right$ \begin{bmatrix}
N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta})\\
-J^{-1}\boldsymbol{\omega }\times J \boldsymbol{\omega}
\end{bmatrix}+\frac{\partial }{\partial x}\left $N(\boldsymbol{\theta})\boldsymbol{\omega}+nM(\boldsymbol{\theta}) \right$ \begin{bmatrix}
0_{3 \times 3} & 0_{3 \times 3}\\
J^{-1} & J^{-1}
\end{bmatrix}\begin{bmatrix}\boldsymbol{T}_d \\ \boldsymbol{T }_c\end{bmatrix} \end{dmath}

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closed as too localized by Martin Schröder, Kurt, Werner, Thorsten, Stefan Kottwitz♦May 12 '13 at 6:30

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this whole passage is math, and you don't show any "wrapper" that indicates its "mathness". that could easily be the cause of the $ error message, since $...\$ is the canonical way to identify a math passage. – barbara beeton May 11 '13 at 22:45
Thanks, I have updated my question. – Pietair May 11 '13 at 22:58
Generally, it is always best if you create a minimal, compilable example (an MWE), that shows the problem. That is, a document containing a \documentclass, all necessary packages (but no more), document environment and the shortest code that shows your problem. That makes it much easier for those trying to help, as we can just copy-paste the entire code and compile it, saves us having to figure out which packages etc. are required, and setting up a document with those. – Torbjørn T. May 11 '13 at 23:03
Thanks, I will keep that in mind. – Pietair May 11 '13 at 23:09

$ and $ are delimiters for a displayed math environment, to write a bracket you just write [ or ]. Try replacing all your \left$ with \left[ and \right$ with \right]. Having done that, and placed your snippet in an equation environment, it compiles fine here, though the equation is far too long for a page.