In this paper the behaviour of strongly nonlinear waves in axisymmetric resonators is experimentally and numerically studied. Experiments are carried out in a cylindrical cavity, which transversal dimension is bigger than the longitudinal one, excited by a narrow band transducer. The quality factor and displacement amplitudes are experimentally quantified. A finite difference numerical model is developed to solve, in the time domain, a proposed set of full nonlinear differential equations written in Lagrangian coordinates. Pressure field is obtained for complicated modes. Good agreement between numerical and experimental results is found. New nonlinear properties of quasi-standing waves in axisymmetric resonators are described. Results are compared to linear approximation and show the importance of three-dimensional analysis.