A basic understanding of algebra at the most is all that is required if you feel like doing the math. I am an engineer, been thru all the calculus and differential equations and I don't bother with all of the math in that book. When I laid my suspension design out for my race car, I pulled out a couple protractors, some graph paper and a ruler. You can lay linkage motion (which is all a suspension is, a bunch of metal with points of rotation and therefore essentially a linkage) out on graph paper very easy, it is easier to visualize than math for obvious reasons.

Then you can see your your instant centers move and so forth. Unfortunately, I don't think the way you lay it out is probably not in any of those books, but it isn't hard to explain. I know they show images of the layouts and that should help.

The good part of the book is it is as in-depth as most could want, so most likely you will get a good understanding of how things work from it. Simplified texts might be too simplified (I am not familiar with the Adam's books, but the Smith ones are good too so you should be happy with those).

Carroll Smith's entire collection (Carroll Smith)

How to make your car handle (HP books)

Chassis Engineering (HP books)

Brake Systems (HP books)

Smokey Yunick's Power Secrets (HP books)

Best Damn Garage in Town (Smokey Yunick, three book set)