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http://en.wikipedia.org/wiki/Glossary_of_German_military_terms
You can also get a general idea of a team's capability on the Battle Group Screen in game. Select the team and look at the details on the lower left of the screen -- it will tell you the general type (infantry, AT gun, mortar, etc.) as well as list all the weapons within the team. This is one place where you can see if they have anti-armor weapons or not -- look for panzerfausts. You can also tell in-battle if a team has AT capability when you select it.
Steve
Panzeraufklärung is the term for armoured reconnaissance. A Panzer division has a Panzer Aufklärungabteilung, "Armoured Recconaissance Battalion". The Armoured Recconaissance Battalion of a Panzer Division would have more anti-armour capability than an Infantry Division's Recconaissance Battalion.
Pioneers are combat engineers and have demolitions capability and hold flamethrowers.
Regardless of their name, looking at their combat capabilities at the bottom of the screen should give you a general idea of how they'll be best employed. Hope this helps!