3D Animation

Ok ok, I know this is a pretty daunting thing, that some people spend whole carrers learning how to do it, and that there are programs out there that cost 1000's of dollars. But what about for a novice who just wants to get his feet wet. The 3D animation stuff is pretty cool and I'd love to learn how to do just some basic things. Maybe make a crude stick figure dance? Any software recomendations? I found this thing called animoids but its proving very tough to use.

 

Great suggestions and useful for what I'm after, but can you suggest anyone's that are very easy to use like pivot that you can print an individual frame? I'm a swimming teacher and need paper copies for demonstrations?

 

Thanx star. So is that Blender thing pretty good then?