There isn't a way to do concentric bending w/o all the math.
Greenlee does have some good manuals that will fit in your pocket and have a lot of the math done for you.
A while back, I was cursed w/ getting the last bender in the shop which was a segment bender. I picked it up pretty fast, but would not call it easy.
It has been a long time since I was in the field but I recall being able to produce decent concentric bends quickly when needed. Let me see if I can explain what I remember and I am sure we can fill in the gaps.
To knock out a decent set of concentric bends in the field, (i.e. GF standing over you yelling about 7million feet per day is not enough) we used a method of shot bending just like every body knows. The main difference being the layout of the bends.
With a laser level (or plumb bob) you can easily and quickly transfer your rack dimensions to the floor where it is easier to work. This makes it easy to use a framing square to determine the centerline and bend radi. I find the center of the circle and measure out with a tape.
The bends are produced by making 15 evenly spaced bends of 6? each, but we dont measure these I dont even care to know the distance between the bends because the next step takes care of that for me.
Using a length of 1" wide elastic strip with 15 evenly spaced marks every four inches or so is the secret to speedy layout. Take the overall length of bend mark first and last then stretch the tape between and viola, conduit is ready to be bent. equal bends every time!
This method eliminates much of the math, and for many, much of the errors in preforming concentric bends. Hope that helps. If I missed something it is because it has been a few years since I was in the field as nowadays I get to play estimator.
The estimator's version of concentric bends = "counts just like every other 90" hehehe