Whoopi Goldberg opened up about her childhood and estrangement from her clergyman father in her new autobiography, RadarOnline.com has learned, detailing how she was raised by her single mom before she became a Hollywood star. She recalled how her mom, Emma Harris, whom the actress and daytime personality bears a striking resemblance to, never wanted to apply for welfare and worked as a nurse to make ends meet as a parent of two. Harris died of a stroke on Aug. 29, 2010. Whoopi, whose real name is Caryn Johnson, had an older brother, Clyde K. Johnson, who later passed away from a brain aneurys…