It's simple physics, the steering and power are applied directly together on the same wheel, whereas the RWD has a large physical distance between the power and the steering wheels.
Uh.... I have no idea where you learned physics from... but I sugest you re-read the textbook... as well as maybe some kinematics lectures...
Now I have no interest whatsoever in drifting... i strongly regard Rallying to be a true test of skill... then F1. But when someone brings up mal-digested information... it sparks my attention (maybe it brings out the Flame warrior in me
)
The distance between the wheels (aka wheelbase) will only determine the turning radius. Small cars, small wheelbase, small turning radius. Trucks, big wheel base, massive turning radius.
Where the driving force comes from, doesn't affect how easily controlled the car becomes in regular driving. The weight distribution and position of the motor affect the control.
A front wheel drive car has the engine at the front, causing a disbalance. Exaggerated, it basically means all the control is in the front wheels, and the rear wheels are basically just floating. Hard turns will make the back end whip out easily, if traction is held. When traction is lost, the mass of the engine will make the car continue a straight line (Understeer).
Rear wheel drive has a better distribution for weight, almost 50/50. When traction is lost in the rear wheels, the rear of the car will whip out (oversteer) but the front wheels can still be used to reposition the front of the car. This provides much easier control of the rear of the car, hence, the vechicle in general.
The best example to see it all done to extremes is rallying. Watch when an AWD vehicle reaches a hairpin. Using left foot brakeing (or line-lock), they lock the front wheels, then apply full throttle to whip out the rear. This is an extreme example of full traction in the front (Locked) and full loss at the back. Full control the entire time. The only way to do that in front wheel drive would be to maintain traction at all times.
Simple.