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Originally Posted by LakeErieUmp
Right, but from the set your free foot is in FRONT of your pivot foot so you can step to third without passing the plate on the way. From the windup your free foot HAS TO pass the plate since it's moving from the first base side of the rubber to the third base side, which looks like the natural movement of a pitch to the plate.
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From Jim Evans:
A pitcher may use a motion common to both delivery of the pitch and delivery of a pick-off throw in some cases and this shall not be deemed a balk. For example: A left-hander starts his delivery to the batter in the same motion as he starts his pick-off attempt. This is legal as long as his motion does not violate any other rule.
I would consider a direct step to third base by a RHP that had some initial common movement with a move to the plate to fall within the concept Evans is describing.