The pinion angle you're concerned with is the angle between the pinion shaft and the drive shaft. There may also be an angle between the pinion gear and ring gear, but I don't know about that. Ususlly the drive shaft angles down from the transmission to the rear differential. You want the angle between the drive shaft and the rear differential to be the same angle as that between the drive shaft and the transmission. Sitting at rest most vheciles will have a little more angle in the rear to allow for some slight twist while driving. Torque is trying to lift the front end of the differential where it attaches to the drive shaft. If these angles are not the same, vibrations will be induced to the drive train, sometimes a lot. I would think that the more the angles are different the more vibrations would insue, but am not sure about that, there's probably more involved than just the angles at that time.
RandyN