Listen to Bach's Fantasia from Fantasia and Fugue in G minor, BWV 542:
https://www.youtube.com/watch?v=LWyiiOkhwoc
At about 3:54 you'll hear a famous section where Bach starts "circling" around fifths. The general pattern is that the notes of the chords in the hands "rise" while the feet descend.
Listen to the bass line. It seems to descend by step for thirty notes in a row. But try singing any note and singing down a scale for thirty notes in a row. You probably can't do it. And if Bach did that in the bassline the final note would be really low and flabby.
So how does the bassline seem to continue descending by step while remaining in the same general range?
The answer is a two-word phrase that is usually met by profound boredom in first-year music theory classes. But that concept is what Bach uses in the pitch domain here to achieve his aim. And its analogous to what happens in the frequency domain to produce a Shepard tone.