"Struck" is the past participle of "strike".
In this context it means that the bullet hit the shoulder with a lot of force.
In this sentence, "graze" means that the bullet touched the artery lightly while passing through and nearly broke the surface of it.
Let me give another common example using the word "graze".
When someone falls on the ground and injures their knee, we say that they have "grazed their knee".
However, "graze" can mean to