Both are available in standard distribution packages (use apt-get, synaptic, whatever). Both have interfaces to work with OpenGL. Both have ports to multiple platforms.
Those of course are not your only options -- but those are the ones I personally prefer.
you need to learn some basic maths also to program in opengl. a couple of books like:
Beginning Math and Physics for Game Programmers By Wendy Stahler
Mathematics for 3D Game Programming & Computer Graphics 2nd Ed. Eric Lengyel,
3D Math Primer for Graphics and Game Development Fletcher Dunn, Ian Parberry,