Zulu was released by Eagles last April having made only eight appearances in the National First Division (NFD) during the 2017/18 season - netting once in the process.
"I have been unfortunate with injuries. But now I feel stronger and ready to deliver for Baroka," Zulu told SowetanLive.
"Only injuries can spoil this move but I am hopeful I will have a successful season. I want to regain my old form. I want to score goals for Baroka,” he continued.
Zulu, who is a well-travelled marksman, is hoping to find his old form that attracted Chiefs to sign him from Chippa United three years ago.
"If I can stay injury-free, I can guarantee you I will enjoy my time at Baroka. I am 32 years old and I cannot afford any setbacks in my career,” Zulu explained.
Zulu featured in a nine games in all competitions at Chiefs and he failed to scored. Amakhosi released him at the end of the 2016/17 campaign and he joined Eagles.
The former NFD Golden Boot winner feels that he was not given a fair chance at the Soweto giants.
"Things did not go as I would have wished at Chiefs. I was psychologically hurt. The first season went well but all the problems started when I got injured, I was out for three months," he said.
"I do not have grudges against Chiefs but I think I did not get a fair chance to showcase what I am made of. It was a proud moment to wear [the] Chiefs jersey," he concluded.