Low pivot mid-roller oscillating beam for track system

A track system for traction of a vehicle, the track system comprising:

• an undercarriage comprising a track and a track-engaging assembly for driving and guiding the track around the track engaging-assembly, wherein the track engaging-assembly comprises:
• a plurality of track-contacting wheels comprising a drive wheel for driving the track;
• a front idler wheel;
• a rear idler wheel;
• and a plurality of roller wheels;
• a frame configured to couple to the vehicle and to the drive wheel, the front idler wheel, and the rear idler wheel;
• and
• a lateral oscillation system comprising
• a roller support beam comprising a plurality of roller wheel axles each configured to be coupled to the plurality of roller wheels;
• and
• at least one support assembly rigidly coupled to the frame;
• wherein the roller support beam and the at least one support assembly are in a pivotal relationship such that the roller support beam is pivotable about a longitudinal pivot axis transversal to an axis of rotation of the plurality of roller wheels by at least +/−1° from a rest position of the roller support beam;
• and
• wherein at least a portion of the support assembly is received in the roller support beam or at least a portion of the roller support beam is nested within the support assembly and/or the frame.