I have currently dissected the example program enough to where I know what each chunk of code does, and I could probably make a program that works, but I really want to understand how to actually use it and modify it.
Are there any resources that anyone knows about that teach his library, or will give me info to understand it better?
Thank you!
Don't know about that particular library but some explanation here....first one came up on Google....great stuff Google... 
If you want to know how the I2C dev library works, start digging through the source code on your PC 
If you want to know all details how to use the MPU6050, download the datasheet. With the datasheet and digging through the MPU6050 library on your PC, it should be possible to understand exactly what is happening.