Unfortunately I haven't been able to find a good quality copy of the second image as I originally saw these in a documentary film about Steadman on Youtube- https://www.youtube.com/watch?v=wfB7FcCpYm4 (the link starts at 14 minutes in for some reason so just take it back to the beginning).
The way in which the first image is scrawled across the page, creates a terrific sense of motion which alludes to the spontaneity of the act, the homeless man trying to keep up with other pedestrians as they rush past, appearing only at the peripheries of their awareness and extending a feeble arm. It feels very much like you are there yourself, having just glanced to your right and finding him having skulked up to you without you noticing.
The character in the second image seems at odds with the first, a bolder and more intrusive presence which is accentuated by the breach of the border by his outstretched hand, directly addressing the viewer. Both of these works, I feel, present raw and honest depictions, decidedly affecting and drenched in misery.