I understand how you feel. I had a terrible physics teacher in HS and I was never able to grasp the concepts well. When it came time to take the course in college, I was apprehensive and frustrated. I aced biology, chemistry and calc...but physics always was the bane of my existence.
I really messed up my first semester of physics...got a C+. The second semester I decided to revamp my study strategies. In addition to studying notes, I also studied all the equations I was taught. I wanted to understand all terms of the equation and how it worked in the problems I was solving. The most important thing for me was to do all the practice problems I could. Whenever I missed a question, I studied the solution in detail to understand where and why I went wrong. I also tried to go to the professor's office hours every other week. I got an A- the second semester.
So, my advice: make sure you understand the concepts and practice, practice, practice.