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Pinion angle is the relationship between the transmission and the pinion, NOT to the driveshaft and NOT to the ground.

Ideally, you want the pinion to become parallel to the transmission as the pinion wraps up a couple degrees under power. This is how a 2-joint driveshaft is designed to operate.

1. Make the pinion parallel to the transmission as a base-line when the vehicle's weight is resting on it's suspension.

2. Roll the pinion downward 2 degrees from this base-line and weld the perches.

The result is a true 2 degree negative pinion angle.

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Easy explanation to understand.