He limped in, called a $3 raise, bets $10 on the flop
with crap showing (but a possible flush draw). He's
protecting his trips.

Here's where you need to raise him to make sure he's
not going crazy wtih AQ. I'd raise him another $10 to
get the point across.

If he calls he's either got trips or he's very passive
with his pair of Qs. If he rasies fold.

If he's passive he will then check you on the turn bet
and raise you with trips. You should still check and fold
in case he is slow playing.

Now you fold on a bet here. Your total payoff is $24,
which actually is a net loss for a trips play since he
needs to make $32 to win long term. You are ahead.