Pst, Ulfric didn't kill him with a shout.
Yes, u are right Ezedrial, though at the beginning at beheading segment an Imperial lectures Ulfric about killing Torygg with a shout, and some other later NPCs also believed that, i heard it said later in the game that in his own defense Ulfric said he only used the shout to bring Torygg to his knees and then let him die by the sword (finished him with his sword) And guess he was also trying to make the point that he was too weak to be High King, besides the fact that Torygg was also considered as Imperial Puppet. (So multiple factors to it) Anyways, I guess Torygg would have rather died than give up the throne.
Also i was saved by Ralof at the beginning and went with him to meet his family so i got some opinions from Gerdur (his sister) that other NPCs others i have talked to sometimes share and sometimes do not. For example, Gerdur's opinion of the Jarl is not bad and thinks he does care about Whiterun, but she does worry that if he remains sitting on the fence between the Imperials and Nords that he could eventually be persuaded to side with the Imperials if for no other reason, he and Ulfric have had differences of opinion in the past and this could cloud his judgement when push comes to shove on whether to side with the Nords or the Imperials. When my character speaks to the Jarl not long after this, he does not disrespect Ulfic, but seems to express that he feels his loyalty being indebted to both sides and hopes he does not have to choose..I also noticed that his Steward was always pressing him to side with the Imperials...and his daughter is overheard by my character being pressed by the Imperials to forge arms for them..she complains but then concedes and accepts the contract..(And even the Jarl of Whiterun who tries to be fair,( is not in a circumstance where his loyalties cannot get coloured by others close around him if forced to choose sides) So the politics are not that cut and dry and like in real life..sides can be chosen based on personal pressures as well as political ones....just makes the game more interesting...

Right now i am playing a Nord Stormcloak and still hear opinions from both sides, but it is certainly possible that when i play an Imperial i will get even more of a view from their perspective no doubt..and maybe hear some things against Ulfric that i did not hear before, though i do already hear their spin some now..LOL