I have this HTML:
Intermediate steps
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Try using document.querySelectorAll which returns all of the possible results instead of just the first one. The error you're getting (Uncaught TypeError: Cannot set property 'src' of undefined) is because querySelector only returns the first element found, not an array (and elements can't be accessed like arrays).
jQuery (the inspiration for querySelector and querySelectorAll) always allows you to access like an array ($('.staticStep img')[0] works), so this is probably where your confusion stems from.
Quick JSFiddle example: http://jsfiddle.net/j8ZUJ/1/