There are two enemies in the gym: Satisfaction and Discouragement. Everything else is irrelevant.
You have allowed one of these to get the best of you. Every person in that gym was once like you and many of them have no idea what they're doing despite appearances.
To prevent intimidation from discouraging you, I would recommend the following:
1) Prepare yourself by studying different techniques, lifts and exercises. This will give you more confidence on the machines. Don't be afraid to examine the placards on machines. I've been lifting for 15+ years and I still observe these because they are very useful for proper technique and workout planning.
2) Talk to people in the gym. This makes a huge difference. Just walk up to people and ask stupid questions. Most people will be happy to talk with you about different techniques and practices. You'll make some friends, you might learn a thing or two and it will help you realize that everyone is just like you.
3) Employ the services of a personal trainer. Many of them are very helpful and should be willing to assist you without charging a fee. Remember, their goal is to build a clientele so they don't mind spending a session or two with you if they think you may become a customer down the road. And you don't have to be embarrassed. We have all worked with trainers before.
Just remember, most people in gyms are extremely insecure which is why they put off an intimidating demeanor. Just ignore it. If you stay focused and committed and just have fun, before you know it, those people who seemed intimidating will come up to you asking for advice.
Good luck and keep working hard!