Factory style steering can be visualized as a parallelogram.
The drag link and the trackbar make up the two long sides of the parallelogram. The knuckle and the frame act as the other sides of the parallelogram. (They are offset and even reversed, but in this case that doesn't affect the analogy). For this scenario, let us visualize the pitman arm as fixed. The knuckle is allowed to pivot.
As the suspension moves up and down, since the upper mounts for the drag link and the track bar hold the bars in the same pivot, the horizontal movement between the two at the other end is the same. Thus, no matter where the axle is in its travel, the parallelogram is maintained. Both the drag link and panhard rod are parallel, and the frame and theoretical knuckle are parallel. Thus, the knuckle does not pivot.
When that geometry is disrupted, such as when the mounting points for the trackbar or drag link are changed, the result is that the parallelogram is now a non-regular quadrilateral, or possibly a trapezoid.
Now, as the suspension moves up and down, since the lengths aren't the same, there must be an angular change between the knuckle and the frame throughout the suspension travel. Since the frame can't move, the knuckle must turn. (Alternatively, the pitman arm must turn.)
If you want to see this visually, take four pieces of scrap wood or something and build a rectangle with only one nail in each corner. As you flex the rectangle, it becomes a parallelogram. The long sides are like the drag link and trackbar, and the short sides are like the fixed frame/pitman arm and the knuckle. Holding one short side in place and moving the box up and down on the other end is like suspension travel. Rotating the short piece on one end is like turning the pitman arm.
Now take one of the short sides, and make it significantly shorter or longer. Hold one of the short sides in place, and move the other end of the quadrilateral up and down. Note that the other short side rotates with respect to the one being held down. This is bump steer. The simple act of moving the suspension must cause the knuckle or the pitman arm to turn.