It just looks like a numbering system with base 6 instead of 10.
So I would just use the normal equation for changing bases.
Like $A=0, B=1, C=2, D=3, E=4, F=5$, and use the normal formula to switch the number between decimal system and system based on 6.
Actually, it looks a bit more complicated than that since there is no "zero" in this system.
Define $S_n = \sum_{i=0}^n 6^n$. Given any $N$, let $j$ be the largest integer such that $S_j \leq N$. Let $N_0 = N - S_j$.
Now change $N_0$ into base 6, and fill the digits so that you get $j+1$ many digits. Then switch back to the alphabet system.
For instance, if you want to find 51st word, you would notice that $43 = S_2 < 51$, so $N_0 = 51-43 = 8$. $8$ in base 6 is $12$, so fill the zeroes in front to get $012$. Finally, the word you were looking for would be $ABC$.