No matter how steady you think you can hold a camera you will often be adding unnecessary and disconcerting movement to the video unless you use a tripod. Position your subject matter in a manner that is comfortable to vide on the screen. A rotating camera move means the camera changes its angle of view but doesn't change location. A pan rotates the camera horizontally around its axis and a tilt rotates it vertically. Zooms are actually not camera moves at all.
Zooms are progressive changes in the lens' focal length between wide angle and telephoto.