I don't know of any book that lists all the possible related words for any given word. Certainly any ordinary dictionary will list many of them, in adjacent entries if not actually in the entry for the first word. For example, picking up my American Heritage Dictionary of the English Language and looking up "explain", I find, within a couple of column inches, the words explainable, explanation, explanatory, explanative, explanitorily, explicable, explicate, explication, and explicative.
New words, one handy idiom, and a 2-minute quiz — delivered to your inbox to keep your streak alive.