Where did you learn to do this? Are there any books you used?

The best description of how I started designing and building kinetic sculptures is in the History section of this web site. I didn't study in any formal manner to learn to build kinetic sculptures. I have found one book that has some great mechanism drawings.

Five Hundred and Seven Mechanical Movements by Henry T. Brown copyright 1868, 1896

I also recommend beginners check out Dustyn Roberts book Making things Move.