Paul Van Vaulkenburg's (sp?) "Race Car Engineering and Mechanics. The best I've seen in being very detailed without relying on an engineering or math degree. I have not seen the Costin & Phipps book though. Think I might check it out.
Tune to Win Engineer to Win Prepare to Win Drive to Win Etc.
I have read the first two and they are excellent reads giving just enough in-depth material with out making you feel in over your head and not dry at all. Reads more like a journal then an eng text. I learnt allot more with these books then I could apply with my engineering text books.
I also recommend Milliken & Milliken's Race Car Vehicle Dynamics
More incepts then To Win with more math theory but also great real world applications and info and teaches the basics too. Both are must have for anyone who want to know how a performance car is suppose to perform.
The Staniforth book is OK but he tends to tell you almost everything you need to know but still just leaves you short. For a basic book I like "How to build & modify sports car & kit car suspension and brakes for road and track". ISBN 1-901295-08-7
Cheers
Mike