hmm, the only encounter i remember that implies that description is jacob wrestling the angel & grabbing onto it's heel as it tries to fly away.
in other cases it's all sort left for the imagination, though in eiyov it's implied that they are at least somewhat human - i mean, they can fit comfortable in his house, take a sit, wine & dine... i'd imagine if they came as giant twirling eyeball wheels that wouldn't be as easy.
http://en.wikipedia.org/wiki/Ophanim
(FYI, no i don't believe in angels, but too much coding taxed my Ti filter, and in what's left is the Ne world where everything is possible).
I'm going to try to pull up what I can from Sunday school, etc. I only know the Protestant Cannon and my religion does not put much emphasis on teaching about angels, so this is all I've got:
Satan was a very beautiful angel called Lucifer that was involved in music or praise when he rebelled against God along with a third of the angels. They got kicked out of heaven and are now demons. Or that's how my church teaches it.
There was angel with a flaming sword posted to keep people out of the Garden of Eden after Adam and Eve got kicked out.
Sons of God, which may have been some kind of angels, hooked up with human women and their children were giants. They were supposed to have been killed in the flood, but giants are talked about later on, like when David killed Goliath. If those were angels, they almost had to be some kind of humanoid.
Abraham had at least one encounter with angels and they looked like men. That was when he was trying to talk them out of destroying Sodom and Gomorrah. I can't remember if it was a separate incident when he told him that Sarai/Sarah would have a son.
The incident you described was with Jacob/Israel.
The angel of death that struck the firstborn of Egypt isn't described.
At least one angel appeared to Gideon when there was conflict with Midian.
Horses and chariots of fire showed up when Israel was at war in Elisha's time.
An angel appeared in the furnace Shadrach, Meshach, and Abednego got thrown into for not worshiping a golden idol in Babylon.
I think one appeared to Daniel in the book of Daniel when he was praying that God would let the Jews free from captivity in Babylon so they could go back to Judea. I can't remember if he looked like something other than a man. And I'm not sure if that was when he was having a dream or a vision or if it was just normal like talking to anybody.
I think Ezekiel saw some of the weirder looking heavenly beings in visions, but I'm not real strong on any of the prophetic books, so I'm not certain about that.
An angel appeared to Zechariah, John the Baptists's dad. I think that angel was scary if not shiny.
One appeared to Mary before she conceived Jesus. He was apparently scary. Then twice to Joseph in dreams -- once to tell him Mary wasn't messing around on him and another to tell him to flee to Egypt before the Slaughter of the Innocents. And angels appeared to shepherds when Jesus was born. They were shiny and scary. And, I think, to the Magi in a dream to tell them to not tell Herod where they found baby Jesus.
Angels took care of Jesus after his temptation in the desert, but they aren't described.
Then there are a lot of crazy things happening in the book of Revelations some of which involve angels.
I'm sure I missed quite a few instances, but my brain thinks I should sleep soon and isn't cooperating anymore.
