In Cartan’s PhD thesis, there is a formula defining a certain rank 8 vector distribution in dimension 15, whose algebra of authomorphism is the split real form of the simple exceptional complex Lie algebra $\mathfrak {f}_4$. Cartan’s formula is written in the standard Cartesian coordinates in $\mathbb {R}^{15}$. In the present paper, we explain how to find analogous formulae for the flat models of any bracket generating distribution $\mathcal D$ whose symbol algebra $\mathfrak {n}({\mathcal D})$ is constant and 2-step graded, $\mathfrak {n}({\mathcal D})=\mathfrak {n}_{-2}\oplus \mathfrak {n}_{-1}$.

The formula is given in terms of a solution to a certain system of linear algebraic equations determined by two representations $(\rho ,\mathfrak {n}_{-1})$ and $(\tau ,\mathfrak {n}_{-2})$ of a Lie algebra $\mathfrak {n}_{00}$ contained in the $0$th order Tanaka prolongation $\mathfrak {n}_0$ of $\mathfrak {n}({\mathcal D})$.

Numerous examples are provided, with particular emphasis put on the distributions with symmetries being real forms of simple exceptional Lie algebras $\mathfrak {f}_4$ and $\mathfrak {e}_6$.