Now apparently defunct, The Guerrilla CG Project was a nonprofit organization that provided free tutorials geared toward helping people understand some of the basic concepts and tools of 3D computer animation. While they no longer appear to be in operation many of their tutorials are still available on both their youtube and vimeo channels.
http://www.youtube.com/user/GuerrillaCG
http://vimeo.com/user904568
Here is a good one on Gimbal Lock:
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