The present invention relates to a steering mechanism intended for vehicle as well as for the take-off and landing devices of aircraft. The device includes a master member in the form of a pendulum arranged on the steering shaft so as to be capable of rotation from a central position and in both directions about the axis thereof. The pendulum includes two shoulders provided with fingers as well as a driving member which is capable of longitudinal displacement, which is cinematically connected to the controlled wheels and which is coupled to the pendulum fingers through the profile end surface of its head portion. This steering mechanism for vehicles is based on a mechanical method and provides an optimal non-linear dependence of the controlled wheel rotation angle relative to the steering shaft rotation angle. Furthermore, when accounting for the law on the modification of the centrifugal forces applied onto the vehicle upon a change in its trajectory and for an increase in the steering shaft rotation angle relative to the central position, the incrementation of the driving member displacement direction increases, thus imparting excellent maneuverability to the vehicle.