Kerry,
Unfortunately, it takes a lot of research and reading. Here are a few things that helped me:
* Read the FAQ and Tech Article threads here on the forum
http://www.teamxray.com/xforum/viewtopic.php?t=1315
http://www.teamxray.com/xforum/viewtopic.php?t=1959
* Use google and search the internet for things such as, "ackerman definition"
* Read scale chassis design books like, "Chassis Engineering" by Herb Adams & "Engineer To Win" by Carroll Smith. Although much of the content will not apply to RC, they have some great explanations and theories that do apply.
* Post specific questions here on the forum