You're asking for the fundamental reason in terms of particles. That's Wong's equation. Under Wong's equation, under the influence of a non-Abelian gauge field that is turned on, the corresponding gauge charge will precess.
For the Weak Force, where the charge is (weak) isospin, the weak charges have the additional attribute that different charge states are different particles. For leptons, the left-handed electron is the isospin-down version of the left-handed (electron's) neutrino, which is isospin-up. The right-handed positron is the isospin-up version of the right-handed (electron's) anti-neutrino. A similar relation exists between the left-handed (down, up) quarks - separately for each color red, green and blue; and for the right-handed (anti-down, anti-up) anti-quarks separately for each color anti-red, anti-green and anti-blue (or cyan, magenta and amber, as I prefer to call them).
So, when the weak force is turned on, the weak charge can precess ... which means it also switches identity. A neutron, which has (up, down, down) quarks of separate colors (red, green, blue) can become a proton, which has (up, up, down) quarks of separate colors (red, green, blue), when one of the down's precesses to an isospin-up state and becomes an up quark.
This spits out a quantum of the weak force - a W⁻ particle - which then decays into an electron and anti-neutrino. That's the genesis of a radiation event.
Curiously, there aren't that many references on Wong's equation; not even a Wikipedia entry yet, as far as I can see. This one Canonical formulations of a classical particle in a Yang-Mills field and Wong's equations seems to be covering all of the bases, but it's in Letters in Mathematical Physics, which is not open access. Part of the sparsity of references is because you have to make full use of the geometry of principal bundles to provide any Lagrangian formulation for Wong's equation. There's no easy formulation of Wong's equation based on the action principle.
The simplest way to arrive at Wong's equation is to first treat the gauge field as just a Maxwell field that happens to have one set of potentials $\left(φ^a,𝐀^a\right)$ and field strengths $\left(𝐁^a, 𝐄^a\right)$ for each basis element $Y_a$ in the underlying Lie algebra. If the Lie algebra is non-Abelian, then the Lie brackets of the basis elements are non-zero and of the form $\left[Y_a, Y_b\right] = f^c_{ab} Y_c$ (with the summation convention used here and below), where the structure coefficients $f^c_{ab}$ are (generally) non-zero. The corresponding relation between the field strengths and potentials is, then, non-linear:
$$𝐁^c = ∇×𝐀^c + \frac12 f^c_{ab} 𝐀^a×𝐀^b,\quad 𝐄^c = -∇φ^c - \frac{∂𝐀^c}{∂t} + f^c_{ab} φ^a 𝐀^b.$$
The gauge charge, then, has components which may be expressed as $e_a$. Wong's equation then arises by requiring that the two forms of the corresponding force law for the momentum $𝐩$ and power law for the energy $E$ of a gauge charge reconcile:
$$
\frac{d\left(𝐩 + e_a 𝐀^a\right)}{dt} = -∇U,\quad \frac{d\left(E + e_a φ^a\right)}{dt} = \frac{∂U}{∂t},
$$
versus
$$
\frac{d𝐩}{dt} = e_c \left(𝐄^c + 𝐯×𝐁^c\right),\quad \frac{dE}{dt} = e_c 𝐯·𝐄^c,
$$
where $𝐯$ is the velocity of the charge, $𝐫,t$ indicates the dependence on the coordinates for position and time and
$$U(𝐫,t,𝐯) = e_a (φ^a(𝐫,t) - 𝐯·𝐀^a(𝐫,t)).$$
The parts of the expressions on the right-hand side of the second set of equations that arise from the non-linear parts of the potential-to-field strength equations:
$$
⋯ = e_c \left(f^c_{ab} φ^a 𝐀^b + 𝐯×\left(\frac12 f^c_{ab} 𝐀^a×𝐀^b\right)\right),\quad ⋯ = e_c 𝐯·\left(f^c_{ab} φ^a 𝐀^b\right)
$$
should be negatively offset by the parts of the first set of equations, on the left-hand sides, that arise from making the charge $e_a$ time-dependent, which yields the following subtractions:
$$-\frac{de_a}{dt} 𝐀^a = ⋯,\quad -\frac{de_a}{dt} φ^a = ⋯.$$
Working out the vector algebra and using the anti-symmetry of the Lie bracket $\left[Y_a, Y_b\right] = -\left[Y_b, Y_a\right]$ and structure coefficients $f^c_{ab} = -f^c_{ba}$, we have:
$$
f^c_{ab} 𝐀^a 𝐯·𝐀^b = -f^c_{ba} 𝐀^a 𝐯·𝐀^b = -f^c_{ba} 𝐯·𝐀^b 𝐀^a = -f^c_{ab} 𝐯·𝐀^a 𝐀^b
$$
thus,
$$
𝐯×\frac12 f^c_{ab} 𝐀^a×𝐀^b = \frac12 f^c_{ab} \left(-𝐯·𝐀^a 𝐀^b + 𝐀^a 𝐯·𝐀^b\right) = f^c_{ab} 𝐀^a 𝐯·𝐀^b
$$
and
$$
f^c_{ab} φ^a 𝐀^b = -f^c_{ba} φ^a 𝐀^b = -f^c_{ba} 𝐀^b φ^a = -f^c_{ab} 𝐀^a φ^b
$$
thus, in turn,
$$
e_c \left(f^c_{ab} φ^a 𝐀^b + 𝐯×\left(\frac12 f^c_{ab} 𝐀^a×𝐀^b\right)\right)
= -f^c_{ab} e_c 𝐀^a \left(φ^b - 𝐯·𝐀^b\right).
$$
In addition, noting that
$$
f^c_{ab} φ^a φ^b = -f^c_{ba} φ^a φ^b = -f^c_{ba} φ^b φ^a = -f^c_{ab} φ^a φ^b,
$$
it following that $f^c_{ab} φ^a φ^b = 0$. Therefore,
$$
e_c 𝐯·\left(f^c_{ab} φ^a 𝐀^b\right)
= f^c_{ab} e_c φ^a \left(𝐯·𝐀^b - φ^b\right)
= -f^c_{ab} e_c φ^a \left(φ^b - 𝐯·𝐀^b\right).
$$
Thus,
$$
-\frac{de_a}{dt} 𝐀^a = -f^c_{ab} e_c \left(φ^b - 𝐯·𝐀^b\right) 𝐀^a,\quad
-\frac{de_a}{dt} φ^a = -f^c_{ab} e_c \left(φ^b - 𝐯·𝐀^b\right) φ^a.
$$
In order for this to hold for arbitrary potentials $\left(φ^a, 𝐀^a\right)$, this requires that
$$\frac{de_a}{dt} = f^c_{ab} e_c \left(φ^b - 𝐯·𝐀^b\right).$$
That's Wong's equation.
For the weak force, there are three Lie components and $f^c_{ab}$ is completely anti-symmetric with $f^1_{23} = 1$. So, one can arrange the Lie components of the charge and velocity-dependent potential into vectors:
$$𝐞 = \left(e_1, e_2, e_3\right),\quad \overrightarrow{(φ - 𝐯·𝐀)} = \left(φ^1 - 𝐯·𝐀^1, φ^2 - 𝐯·𝐀^2, φ^3 - 𝐯·𝐀^3\right),$$
and write this as
$$\frac{d𝐞}{dt} = -𝐞×\overrightarrow{(φ - 𝐯·𝐀)}.$$
So it's an equation that describes the precession of weak isospin.