Most math concepts -are- fairly easy to explain and, from the sounds of it, you don't actually want a math book. You want a book that gives you the executive summary or a run-down of specific tools for specific situations. The flaw is not in the books or the teaching, it is what you are expecting from mathematicians.
Math is, in a very general sense, about understanding and reasoning about highly structured objects. Mathematicians have developed methods and notation to achieve that end, not to make it easily digestible by the uninitiated. Rigor is an important part of this. It is what allows mathematicians to be so sure their work is correct and it is often what makes math seem so arcane. It is not always necessary for teaching, but professional mathematicians are often the teachers and the ideas are intimately tied to their rigorous formulations in their head.
For example, continuity is a fairly intuitive concept in calculus, but the rigorous epsilon-delta definition is necessary in proofs. The basic concept, while easy to explain and understand is useless, while the precise formulation, though much more opaque, is ubiquitous in analysis simply because it is an incredible tool... for mathematicians.
An engineer likely just needs the machinery built on top of the analysis: the derivative and integral. If that's all you need, then pick a book that is focused on applications and a development of general intuition, not a book designed for mathematicians-in-the-making.
Which comes back to the problems with the OPs argument. Sure, you can explain continuity in a few simple sentences but sooner or later you will start to hit corner cases and you find that those few simple sentences are really quite ambiguous. It's much like using pseudocode to describe an algorithm. I've found that the best mathematical texts provide both - a 'morally correct' definition in plain english to describe the intention and a mathematical description which defines the precise meaning.
Math is, in a very general sense, about understanding and reasoning about highly structured objects. Mathematicians have developed methods and notation to achieve that end, not to make it easily digestible by the uninitiated. Rigor is an important part of this. It is what allows mathematicians to be so sure their work is correct and it is often what makes math seem so arcane. It is not always necessary for teaching, but professional mathematicians are often the teachers and the ideas are intimately tied to their rigorous formulations in their head.
For example, continuity is a fairly intuitive concept in calculus, but the rigorous epsilon-delta definition is necessary in proofs. The basic concept, while easy to explain and understand is useless, while the precise formulation, though much more opaque, is ubiquitous in analysis simply because it is an incredible tool... for mathematicians.
An engineer likely just needs the machinery built on top of the analysis: the derivative and integral. If that's all you need, then pick a book that is focused on applications and a development of general intuition, not a book designed for mathematicians-in-the-making.