SImple solutions for applying inverse kinematics

I'm trying to implement inverse kinematics on a 3DoF robotarm. (first trying it on 2D, later in 3D)

I already have the forward kinematics down using the Denavit Hartenberg convention. The problem is that I haven't been educated in matrix calculations. Therefore when I'm looking at solutions, I mostly see Jacobians explained with math that is a little beyond me. I did however find this site which is very helpfull http://freespace.virgin.net/hugo.elias/models/m_ik2.htm. Are there any other solutions like this without too much complicated matrix stuff? I have been looking everywhere, but can't seem to find anything similar.

Thanks in advance