Carroll Smith's "Tune to win" gives an easy and entertaining sight into this topic, albeit not very academic. Of course the work of the Milliken's is a must for everyone going deep into the topic but but not good for one who dislikes equations and also concentrates mainly on the development more than the "on track" work. Another book which is an easy read with some useful practical knowledge is the german book "fahrdynamik in perfektion" from Wofgang Weber but I don't think there is an english issue. Surely there is plenty more but those 3 are the first ones who popped in my mind without consulting my book shelf at home.
