Clarify kubelet_dockershim_nodocker error message

[mattjmcnaughton]

What type of PR is this?
/kind cleanup

What this PR does / why we need it:
Clarify the error message returned when trying to use the docker runtime
on a Kubelet that was compiled without Docker.

We removed the "w/" and "w/o", which can be confusing abbreviations, and
also add slightly more detail on the actual error.

Which issue(s) this PR fixes:
Fixes #

Special notes for your reviewer:
cc @derekwaynecarr - re your comment on #87746

Does this PR introduce a user-facing change?:

NONE

Additional documentation e.g., KEPs (Kubernetes Enhancement Proposals), usage docs, etc.:

[mattjmcnaughton]

/assign @derekwaynecarr

[derekwaynecarr]

/lgtm
/approve

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[APPROVALNOTIFIER] This PR is APPROVED

This pull-request has been approved by: derekwaynecarr, mattjmcnaughton

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