Stand at the rear of the truck and look at the direction the drive shaft is turning. When the truck is going forward, the drive shaft is turning counterclockwise (the top of the shaft is turning toward the left). This torque applied from the pinion to the ring gear tries to rotate the rear axle along with it, so the drive shaft will try to lift the right side of the rear axle and "plant" the left side under a hard launch moving forward.
In reverse, of course, the drive shaft turns clockwise which lifts the left side of the rear axle and "plants" the right side.
Rusty