It's very hard to make a melee fighter without heavy armour. Not all non-spellcasters are the same.
Heavilly armored, high hit-point characters like paladins and fighters are clearly the best for melee. They can soak up damage, will get hit less frequently than any other characters, and can pack a decent punch. You do need to know when to fight defensively, when to attack all-out to take out an opponent quickly, and when to swap out of combat for a few moments to get some healing. Talk to the party, arrange some signals and basic tactics. For the fighter to step back for some healing while a rogue, cleric, or monk holds the line for a round or two is a nice tactic, for example.
Next there are lightly armored and low hit-point characters, like rogues and monks. These types have neither the stamina nor the defence to go toe-to-toe in melee with the worst sorts of foes you'll be facing. The best they can do is try to isolate weaker melee opponents like enemy wizards, get into flanking positions, and harass weaker foes. Remember that you're not the main tank, and if the fighter needs you to cover while he gets healing then you should get back out of there as soon as possible. Also be careful to avoid getting caught someplace where you can't retreat and your comanions can't aid you.
Finally, there are high hit point, high BAB characters with poor armor class: the rangers and barbarians. They are best as skirmishers and scouts than straight-on front line fighters. You can dish out damage and take some, but aren't well armored. The ranger especially suffers by having more non-combat class skills than the barbarian or a "real" fighter. You're more of a scout than a toe-to-toe warrior, but you can still help spell the big fighters for a round or two, hold off foes while waiting for people to stop being stunned, etc. I personally don't find trip to be a terrible choice, although it wouldn't be mine. Just keep in mind that your role is as a secondary combatant, a scout who can quickly take out a lone picket or sentry, and a tracker/hunter. If you remember that and don't try to be a fighter, you should be fine.
Heavilly armored, high hit-point characters like paladins and fighters are clearly the best for melee. They can soak up damage, will get hit less frequently than any other characters, and can pack a decent punch. You do need to know when to fight defensively, when to attack all-out to take out an opponent quickly, and when to swap out of combat for a few moments to get some healing. Talk to the party, arrange some signals and basic tactics. For the fighter to step back for some healing while a rogue, cleric, or monk holds the line for a round or two is a nice tactic, for example.
Next there are lightly armored and low hit-point characters, like rogues and monks. These types have neither the stamina nor the defence to go toe-to-toe in melee with the worst sorts of foes you'll be facing. The best they can do is try to isolate weaker melee opponents like enemy wizards, get into flanking positions, and harass weaker foes. Remember that you're not the main tank, and if the fighter needs you to cover while he gets healing then you should get back out of there as soon as possible. Also be careful to avoid getting caught someplace where you can't retreat and your comanions can't aid you.
Finally, there are high hit point, high BAB characters with poor armor class: the rangers and barbarians. They are best as skirmishers and scouts than straight-on front line fighters. You can dish out damage and take some, but aren't well armored. The ranger especially suffers by having more non-combat class skills than the barbarian or a "real" fighter. You're more of a scout than a toe-to-toe warrior, but you can still help spell the big fighters for a round or two, hold off foes while waiting for people to stop being stunned, etc. I personally don't find trip to be a terrible choice, although it wouldn't be mine. Just keep in mind that your role is as a secondary combatant, a scout who can quickly take out a lone picket or sentry, and a tracker/hunter. If you remember that and don't try to be a fighter, you should be fine.