The moon's angular tilt is surprisingly small. Yes, the receiver, whether solar cells or solar dynamic, would have to track to follow the sun. A simple photocell-activated clock motor would suffice.
Dust on Mars would be a problem. I would design arrays that could fold up to shield from storms, and a robot arm would be needed for dusting. To avoid such complexities, simple flat arrays may be preferable, with solar cells made of local materials.