[jeffreyrogers]

Electric Motors and Drives[0] is very good. Not very mathematical, and gives a lot of intuition. If you understand basic electronics and can do arithmetic you can follow most of the book. Some parts are harder than others but if you keep going it will eventually make sense.

Edit: I took a look at some of the other books people recommended and they seem more advanced, this book is easier than them and probably better for someone without an EE background. I am not sure how to best learn electronics (I learned from The Art of Electronics, but that is probably not the easiest way to learn, and probably overkill for just learning how motors work.)

[0]: https://www.amazon.com/Electric-Motors-Drives-Fundamentals-A...