Barrel-shaped pinions and methods for their engagement with racks are provided allowing for a larger margin of inaccuracy between the rack and pinion gear set avoiding the necessity of costly, high-precision manufacturing processes. The generally barrel-shaped pinion has an outer toothed surface extending axially along a portion of the pinion. The toothed outer surface has first and second ends and a middle section. A diameter of the middle section is larger than a diameter of both the first and second ends. Also provided is a dual-pinion rack gear system utilizing a first driven pinion, a second generally barrel-shaped drive pinion and a rack. Teeth of the first driven pinion and teeth of the second drive pinion mesh with teeth of the rack at two separate locations.