A steering system for aircraft landing gear can be used, for example, for controlling one or more axles of a bogie style landing gear system, such as, but not limited to, a six-wheel bogie style landing gear system. The steering system includes a rack having a plurality of rack teeth. An actuator is operatively connected to move the rack in a linear direction. A pinion has a plurality of pinion teeth in meshing engagement with the rack teeth. The pinion includes a pinion body extending between the pinion teeth and a pinion pivot that is spaced apart from the pinion teeth. The actuator, rack, and pinion are configured and adapted so that linear motion of the rack imparted by the actuator results in rotation of the pinion about the pinion pivot for steering landing gear wheels.