[SPARK-8738] [SQL] [PYSPARK] capture SQL AnalysisException in Python API

Capture the AnalysisException in SQL, hide the long java stack trace, only show the error message.

cc rxin

Author: Davies Liu <davies@databricks.com>

Closes #7135 from davies/ananylis and squashes the following commits:

dad7ae7 [Davies Liu] add comment
ec0c0e8 [Davies Liu] Update utils.py
cdd7edd [Davies Liu] add doc
7b044c2 [Davies Liu] fix python 3
f84d3bd [Davies Liu] capture SQL AnalysisException in Python API