First, Thank you Quiddity for explaining the skating force. I understand it now.
With the RS-labs arm, however, the suggested alignment results in the elimination of skating force at one point (suggested by the manual to be slightly 'inside' (toward the record spindle)) of the grooved surface of the record. At this point, the stylus and arm are perfectly tangential to the groove. For tracks at the outside of the record, the skating force is slightly outward, while for tracks towards the inside the skating force is slightly inward.
Quiddity listed an 'offset' of approximately 95 mm for a typical tonearm wrt causing the skating force. For the RS-labs arm, this is no greater than the about 45 mm at worst. Thus, the skating force is significantly less than for other tonearms.
If you use the RS-3 headshell, and if you wanted similar benefits as for the RS-labs tonearm, you would have to increase the distance of the tonearm pivot from the spindle. The RS-labs arm is set up with underhang, not overhang.
Also, when I had an RB300 and a Syrinx PU3 tonearm, you could hear the music by listening to the cartridge in the groove directly (with the sound on the preamp/amp turned off). This was quite clear, albeit with the RIAA emphasis. With the RS-labs arm, it is almost impossible to hear this. The pivot appears (to me) to eliminate/minimize the transfer of energy from the cartridge into the tonearm. This might also be why it sounds the way it does.