I understand the difference between Excess, Residual and Active Returns.
I also understand what Active Risk; defined as: $\sigma_{r_P-r_B}$ (i.e. standard deviation of the difference in returns between our portfolio and benchmark).
Now, what exactly is Residual Risk? I often see it defined (e.g. here) as:
$\omega_p = \sqrt{\sigma^ 2_p-\beta^2_p\sigma^2_B}$
with $\beta_P = \frac{\text{Cov}(r_p, r_B)}{Var(r_B)}$
Where does this derivation come from? What is residual risk exactly?