Imagine a skipping rope with a person at either end. If you flick the rope while the other holds it still, a wave travels along it. This wave in the rope is analogous to electromagnetic radiation, and your hand is the accelerating charge. The greater the acceleration, the stronger the wave.
So if you have a charge, just sitting there, it will just have radial electric field lines which only represent a potential to do work. Now, accelerate that charge and a kink will develop in those lines. This kink, as it moves away from the charge (at the speed of light, no less!) is propagating energy. The kink will be largest in the direction perpindicular to the acceleration of the charge.
If you want to know the maths, check out Maxwell's equations and the Poynting vector on wikipedia. Be warned, you will need to know something about differential equations and operators!