Parking breaks are applied with a large spring when there is an absence of air. That absence is created by the parking brake valve or a failure. The failure can be a broken airline or the compressor itself. In other words, the parking brake and "emergency brake" are one in the same.
So, if a little gentle rocking does not release the stuck brake shoes, there may be a failure (or leak) in the system that allows air pressure to release the mechanical parking brake.
An excerpt from the California DMV driver training book: "Spring Brakes ----All trucks, truck tractors, and buses using air pressure to apply the service brakes must be equipped with emergency brakes and parking brakes. The parking brake must be held on by mechanical force (because air pressure can eventually leak away). Spring brakes are usually used to meet the emergency and parking brake requirements. When driving, powerful springs are held back by air pressure. If the air pressure is removed, the springs put on the brakes. A parking brake control in the cab allows the driver to let the air out of the spring brakes. This lets the springs put on the brakes. A leak in the air brake system will generally cause the springs to put on the brakes."
The rest of it is here:
http://www.dmv.ca.gov/pubs/cdl_htm/sec5.htm