There’s a couple of options on Whitaside. Firstly you leave the road here then at this point you have your two options. The black dashed line is a newly resurfaced landrover track that goes round to Harkerside. It’s not flat! For the pipeline you want to leave the track here, it’s not obvious but it’s just after you’ve done a steep climb up through some zig-zags and crossed the top of a gully, there’s a very faint path that contours around the edge overlooking the valley. Just keep going until you see a small notch off to your left. Once on the moor below just bear right and contour until you get to the road, there’s loads of tracks and you probably wouldn’t do the same route twice.
The alternative is to carry on up the track from the junction, only one short steepish section just after the junction. Just keep following the track through the old mine workings, there’s no other tracks. Once at the gate at the top it’s a blast down into Apedale with one steep section that used to be loose but the estate have concreted part of it. At the crossroads turn left and climb up a track to Greets Hill which leads to a fast descent across moorland to the road. You might want to go across the road 😉 otherwise head downhill and bear left at the first bend for more fun.
Edit: B.A. Nan’s route is the same as you already linked to apart from the BW down to Gunnerside plus you can avoid the main road bit by taking the minor road towards Crackpot then take the lane starting here, it will be dry at the moment.