As you can see on your first picture there's the main strut[olive] with the shock damper and the wheel on it connected with a 2-axes hinge. With that connection you could turn the wheel in every direction around the 2 axes. Also the angle of the hinge is not in the same angle as your wheel.
And here comes the hollow shaft[green] with the 2 supportive struts[light blue] in action. Those struts force the main strut to move in a certain direction, which results in a movement of both axes of the hinge. By that movement the main strut[in the picture] will be turned up and clockwise around itself.
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