Suppose we have three objects
account(id,name)
opportunity(id,amount,stage)
properties(id,address)
account object has one to many relationship to opportunity object and opportunity object has one to many relationship to properties object .
And we want SOQL query to display only name ,stage and address
id,name,amount,stage,address are fields in the objects.
Using the "dot" notation you can do joins between tables. Something like this will work:
SELECT Address__c,
Opportunity__r.StageName,
Opportunity__r.Account.Name
FROM Property__c
It's quite basic stuff so looks like you have some reading to do. Check http://www.salesforce.com/us/developer/docs/dbcom_soql_sosl/Content/sforce_api_calls_soql_relationships.htm for a start.
And please tag questions with relevant stuff, this has nothing to do with Service Cloud or Chatter.