Dave,
Here's a variation on the theme. I find this one easier to visualise by thinking about the torque transmitted to each of the rotors by the transmission. An equal and opposite torque is transferred from the transmission to the airframe. The airframe will yaw if there is an imbalance in these 2 torques, so increase collective on one rotor (torque increases) and decrease collective on the other (torque decreases) and balance, and yaw are controlled.
In autorotation, the rotors are driving the transmission, so it's all reversed.
I hope this helps, and look forward to other comments.
Spec.