Either "where" or "that" is acceptable although I personally think I would use "that" in this case. Below is a revised and combined version of versions a and b : "The burn was so utterly unbearable that for between ten and fifteen minutes I couldn't stop shaking and needed to take off my clothes, underneath which revealed some severe and hideous third-degree burns . As for the other two versions, version c is adequate enough however I wouldn't go with version d as "only to reveal" doesn't seem to work at all with the sentence.
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hmea1"The burn was so utterly unbearable that for between ten and fifteen minutes I couldn't stop shaking and needed to take off my clothes, underneath which revealed some severe and hideous third-degree burns."Underneath which revealed" is incorrect. And, would you say you needed to take off your clothes for ten minutes? I wouldn't...I'd also point out that