«لأنها في المعنى حكم على صاحبها كالخبر بالنسبة إلى المبتدأ»
For in meaning it predicates something of its bearer, as a predicate does of its subject.
In زَيْدٌ رَاكِبٌ, riding is the main predicate about Zayd. In جَاءَ زَيْدٌ رَاكِبًا, the same quality is supplied as a circumstance of an independently asserted arrival. The semantic similarity explains the close attachment; the different syntactic roles must still be distinguished.