For all future needs like this, I heartily recommend
Engineer's Edge as a starting point. I will say that I've seen some erroneous or misleading details there, but for the most part, it's very helpful. I also recommend
EFunda as a basic reference. And finally, buy Machinery's Handbook if you can at all afford it. It is so massively useful that I can't even begin to describe it. I'll be purchasing my own copy in a few weeks. If you can't afford a copy, I have one more link that got me through a design project this last week,
Machinery's Handbook
EDIT: I'm somewhat doubting the need for thrust or angular bearings in a FIRST robot with swerve. Especially with a 3/4" shaft. Deep-groove radial bearings should be more than enough, as they can handle some axial load in addition to radial load. a 3/4" bearing is rated at 1700 lbs radially, so it could easily handle 200lbs axially.