The modifiers "comma which" and "comma -ed" are often interchangeable. Take these (correct) examples:
His novel, which was written in 1965, is extremely long.
His novel, written in 1965, is extremely long.
These are both noun modifiers, and the rule here is to place the noun modifier as close as possible to the noun it modifies. Usually that means touching the noun (as in the examples above), but which of the following sentences is best, in your opinion?
His novel, written in 1965, about giants is extremely long.
His novel about giants, written in 1965, is extremely long.
So we have to make compromises, but the meaning is still clear: we can see what is modifying what. For that reason, I'd say that your example "Mike researched the books of Jack, written while he lived in France." is fine. It's clear that the books were written, not Jack.
However, in your other example- "Barbara Jordan participated in the hearings on the impeachment of President Richard Nixon, televised nationwide." - the meaning isn't clear. Was Nixon televised? Or the hearings? Or even the impeachment itself?
In short, "comma -ed" modifier can modify N prep N just as other noun modifiers can.