It is my understanding that there is no separate procedure/table for withholding, at least for federal tax purposes. See Form W-4P.
Two primary differences between W-4 and W-4P: (a) a pensioner can elect zero withholding on the W-4P, and (b) the default (if no W-4P or other withholding election is submitted) is to assume the pensioner is Married with 3 Exemptions, and then use the regular withholding table/formula.
Clarifying edit: (a) and (b) above apply to periodic payments, not to payments eligible for rollover.