You have to move in their direction. That is indeed aiming. I don't really ever play with my Titan, just started playing a few days ago to level it up. You can't just shoulder charge and expect to hit someone. Even if you're in their direction, if they jumped upwards and moved a bit too much out of your way, you will miss.
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To miss your shoulder charge, even if they've jumped a bit, takes some doing.
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Well given I'm a dumbass in the crucible, it probably does.