A “rockshaft” is nothing more than a bellcrank.... but instead of the rod linear movement causing the shaft to rotate.... some power-source (in this case, hydraulic pressure on a piston) ... causes the shaft to rotate thereby moving the rod in linear motion. (Hyd pressure rotates the shaft and the attached rod moves the 3-pt hitch.)
Another form of rockshaft is a cam. Rotation of the shaft presents a raised lobe that transfers mechanical motion linearly. The major difference being that a cam rotates completely/more than 180-degrees, while a rockshaft only “rocks” a portion of an arc.