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I will only go to classes because I'm afraid of looking stupid trying to figure out how to use a machine (unless I buy personal training sessions no one will show me how to use them).
Oh, dear. Don't cancel. Listen: You need to go to my gym. They just hired some more personal trainers to deal with the January influx. And those trainers are looking for business, so they tend to wander around approaching people, chatting with them, correcting their form, demonstrating proper use of the machines. (I just got corrected on my tricep kickback the other day by a newbie trainer with a blond ponytail. Little does she know, the trainer I covet is the ex-football player with the nice smile & political views that oppose my own.)
If they aren't trawling for work, then maybe you can tell them you're auditioning a personal trainer and ask a different trainer to show you each machine you're curious about.
But I can't believe they didn't give you an orientation session as part of your membership. Was that too long ago, maybe? Did you forget? Maybe you can get a refresher out of them. Tell them you are considering canceling, and tell them why. Ask specifically for a refresher session on the machines. This time, bring a little notebook with you.
Seriously, if your membership isn't working for you, you should not be shy. Explain your problem to them & that you are considering canceling. Not as a threat, just as an issue that you need to find a solution to. You may be surprised by the response.