ELF Shared Object Loading

So I'm trying to make a dynamic library/shared object loader from scratch (without libc) for linux/posix-like systems, but there's little to no resources for it, as well as the manual pages are really confusing and omit some information or just put them in totally different places. Does anybody have a really concise specification on how you should write one ? Especially with relocations; When loading program sections, where should I put them in memory as