1) All the information needed is there in the document that I sent you yesterday.
If you want to use which you'll need to use a comma:
...in the document, which (by the way) I sent you yesterday.3) There are books that explain clearly the usage of tenses.
Using which won't work above:
?There are books, which, by the way, explain clearly ...
The problem, everything that comes after the first comma is additional info, so you should be able to delete it without changing the meaning of the sentence. The result, "There are books"--not the meaning you want.
that vs which (There are books that/which explain clearly the usage of tenses.)
Exception to the Rule
Like a number of grammatical rules in English as well as other languages, this one has an exception. The exception should only be used when a sentence has more than one dependent clause or when “that” has been used in another role. Take a look at the following example.
That idea, which has been discussed thoroughly, no longer needs to be addressed.
If “this,” “that,” “these,” or “those” has already been used to either as an adjective or to introduce the first clause, use “which” to introduce the next one, whether the information is essential or nonessential.