Mike, if you draw a stick frame on paper of each concept, you should see that the 2 weight masses, the engine and the tool, will move on the articulated frame to the short wb side, or the inside of the turn. On the straight frame with the axles pivoting on their axis, the weight masses stay in the center line. Did that make any sense? I usually have to use visual aids to explain things as I am not good at trying to describe stuff. If it did not make any sense, let me know, I'll try again.

 The most stable of all is four wheel ackerman steering. The wheel gauge on the four wheel ackerman stays the same. Like the old Case 4x4s.