If you read the jist of the Wiki link that Sandbar posted up it explains it really well.SAS Tom wrote:I can see what you're saying about the bike above, what about normal S's where the drive shaft is at an angle to the bevel box. That doesn't look right to me and surely straightening it out won't harm it?

This is the bit which probably says it best...
"A configuration known as a double Cardan joint drive shaft partially overcomes the problem of jerky rotation. This configuration uses two U-joints joined by an intermediate shaft, with the second U-joint phased in relation to the first U-joint to cancel the changing angular velocity. In this configuration, the angular velocity of the driven shaft will match that of the driving shaft, provided that both the driving shaft and the driven shaft are at equal angles with respect to the intermediate shaft"