This is perhaps a simple math problem, therefore no books ever given detail calculation. Could someone help to give a proof?
We have continuity eqution as
$\frac{\partial\rho}{\partial t} = -\rho\nabla\cdot v -v\cdot\nabla\rho$
and induction equation as
$\frac{\partial B}{\partial t} = -(\nabla\cdot v)B - (v\cdot\nabla)B+(B\cdot\nabla)v + (\nabla\cdot B)v$
where we can assue $\nabla\cdot B=0$.
Then combine above two equations together into Walen's equation:
$\frac{d}{dt}(\frac{B}{\rho}) = (\frac{B}{\rho}\cdot\nabla)v$