The expansion of the Universe appears to be accelerating, and the mysterious antigravity agent of this acceleration has been called "dark energy." To measure the dynamics of dark energy, baryon acoustic oscillations (BAO) can be used. Previous discussions of the BAO dark energy test have focused on direct measurements of redshifts of as many as 10(9) individual galaxies, by observing the 21 cm line or by detecting optical emission. Here we show how the study of acoustic oscillation in the 21 cm brightness can be accomplished by economical three-dimensional intensity mapping. If our estimates gain acceptance they may be the starting point for a new class of dark energy experiments dedicated to large angular scale mapping of the radio sky, shedding light on dark energy.