This is probably best done with an example. Let's consider a $4\times 4$ matrix $U$ which acts on two qubits. The $|0\rangle\otimes I$ is equivalent to
$$
\left(\begin{array}{c} 1 \\ 0 \end{array}\right)\otimes\left(\begin{array}{cc} 1 & 0 \\ 0 & 1 \end{array}\right)=\left(\begin{array}{cc}
1 & 0 \\
0 & 1 \\
0 & 0 \\
0 & 0
\end{array}\right)
$$
(if you don't know where this comes from, go back to the definition of the tensor product). This is a $4\times 2$ matrix, meaning it's the right size for you to pre-multiply by $U$. Similarly,
$$
\langle 0|\otimes I\equiv \left(\begin{array}{cccc}
1 & 0 & 0 & 0 \\
0 & 1 & 0 & 0
\end{array}\right)
$$
so that, overall your matrix $A$ comes out as $2\times 2$ (it's the action of what happens to the second qubit if the first qubit starts and ends in state $|0\rangle$).