2) What is the way to love and fear G-d? Whenever one contemplates the great wonders of G-d's works and creations, and one sees that they are a product of a wisdom that has no bounds or limits, one will immediately love, laud and glorify [G-d] with an immense passion to know the Great Name, like David has said, "My soul thirsts for G-d, for the living G-d". When one thinks about these matters one will feel a great fear and trepidation, and one will know that one is a low and insignificant creation, with hardly an iota of intelligence compared to that of G-d, like David has said, "When I observe Your heavens, the work of Your fingers ... what is man, that You are heedful of him?". Bearing these things in mind, I shall explain important concepts of the Creator's work, as a guide to understanding and loving G-d. Concerning this love the Sages said that from it will come to know G-d.
3) Everything that G-d created in His world can be placed in one of three classifications. Firstly, there are those creations, such as the bodies of men and animals, plants and the molten images, which have a shape and form which always exist and can be spoiled. Secondly, there are those creations which have a shape and form which does not vary from body to body or in appearance, like those in the first category do, but their shape is fixed by their form and can never change. These are the spheres and the stars contained therein. Their form and shape are like none other. Thirdly, there are those creations which have a form but no shape. These are the angels, which have no bodies, but whose form vary from angel to angel.
4) If so, what did the Prophets mean when they said that they saw angels of fire with wings? This is owing to the riddles of prophetic vision, for angels [in reality] have no bodies and are not affected by physical limitations, for it is written, "For the Lord your G-d is a consuming fire". This fire is merely analogous, as it is written, "...who makes the wings His messengers".
5) In what, therefore, are these forms different if they no bodies? They are not equal in their existence, some being below others and owing their existence to those above them, and all of them owe their existence to the power of G-d and to His goodness. Solomon in his wisdom hinted at this by saying, "...for there is a High One that watches over him that is high".
6) The phrase 'some being below others' does not refer to positions in physical height, but just as one person can be more learned than another and we say that he is 'above' the other, and just as says that one set of circumstances is 'above' another, so is the meaning of this phrase.
7) Each level of angel has a different name. The highest level consists of the Holy Chayot, then come the Ophanim, the Erelim, the Chashmalim, the Seraphim, the Malachim, the Elokim, the Keruvim and the Ishim. The highest level is that of the Holy Chayot and there is none other above it, except that of G-d. Therefore, in the Prophecies, it is said that they are underneath G-d's throne. The tenth level consists of the Ishim, who are the angel who speak with the Prophets and appear to them in prophetic visions. They are therefore called Ishim - 'men' - for the reason that their level is closest to that of the intellect of Man.
All these forms live and know their Creator exceedingly well; each form according to its level and not according to its size. Even those on the topmost level cannot comprehend the reality of [the existence of] G-d for the reason that their intellect is insufficient for them to do so, but they understand and comprehend better than those on the levels below theirs do. Even those on the tenth level have some understanding of G-d, but it is beyond the capabilities of Man, who comprises both form and shape, to understand as well as those on the tenth level do. None know G-d the way He Himself does.
9) All things that exist, with the exception of G-d, from the Holy Chayot down to the smallest mosquito that lives in the mud, do so on account of G-d's might. Since G-d knows His own self and recognizes His own greatness, glory and reality, He knows everything, and there is nothing that is hidden from Him.
10) G-d recognizes His own reality and knows it as it is, but not with an external intellect in the way that we know things, since us and our intellect are not one. G-d, His intellect and His life, however, are one, in all manners of oneness. It would transpire that he is simultaneously the One that knows, the One that is known and the knowing itself, all as one. This subject cannot be spoken or heard, and it is beyond Man's understanding to recognize his Creator. Therefore, it is written, "By the life of Pharaoh", "As your soul lives" [but], "As the Lord lives" 10, and not, "By the life of the Lord" - for the Creator and His life are not two, like physical life or the life of the angels. Therefore, G-d does not know the creations because of their own existence, but knows them of His own accord. Therefore, He knows everything, for everything relies on Him for continued existence.
11) What's been said in these two chapters is like a drop on the ocean compared to what has to be said to [fully] explain it. The explanations of the concepts in these two chapters is mystical and esoteric speculation.
Hilchos Yesodei Hotorah.
I don't expect everyone to understand what the Rambam is saying here but the Lubavitcher Rabbis have dealt extensively with these concepts: shape without form, and form without shape etc. If you study these concepts well you will find that your preconveived notions about angels are quite illogical, but rather angels are an analogy for something that is quite logical. And you will also find by extension that YES all set forms in this world are examples of angels...not winged creatures flying around (that is NONSENSE)...but math itelf is a set form that is non-physical, and lacks the ability to change and is therefore an angel...it is a creation with a form but no shape.
Anyone who thinks the Rambam did not know Kabbalah (the study of how G-d created the world and it's nature) obviously hasn't even learned the first few chapters of his most famous book.