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Restless leg syndrome, by itself, will not cause a shaking (or, tremor) of your legs. Restless leg syndrome will cause the tingling, crawling, odd sensations that will make you move your legs to make the sensation stop. But it does not cause tremors.
Your leg tremors are caused by something else. The tremors, aching and stiffness are due to another condition besides restless leg syndrome.
Here is a link for more information about Restless Leg Syndrome. Read this carefully so you know which of your symptoms are caused by this disorder. Then speak with your doctor if you feel you have symptoms that are not explained. You may need a referral to a specialist (perhaps a neurologist) to determine the actual cause of your tremors, aching and stiffness.