Most standard textbooks on line transmission cover this. It is derived from the T equivalent circuit of the transmission line, having total series impedance of Z1 and shunt impedance z2, correctly terminated in Z0.
Looking from the left end as the input with the right end short circuited, the input impedance is
Zsc = Z1/2 + Z1*Z2/(Z1 + 2*Z2) .............1
Open circuited, the input impedance at left is
Zoc = Z1/2 + Z2 ......................................2
The Characteristic Impedance is given by
Z0 = SQRT( Z1*Z2 + Z1^2/4) ..................3
which needs a separate proof.
If equations 1 and 2 are multiplied together you get
Zoc * Zsc = Z1^2/4 + Z1 * Z2 = Z0^2
Thus Z0 = SQRT (Zsc * Zoc)
My textbook is an ancient Everitt "Communication Engineering" written with a quill pen on parchment.
