Roughen Edges and Turbulent Displace. Oldest recipe in the book. Of course this can be refined and mixed in a milklion ways with other effects, too. For shape layers even the Wiggle Paths modifier would be usable.
I also find the Scribble effect a good one to explore with this type of animation.
Here's a jump rope animation I made in about 15 minutes by animating the paint tool in After Effects and applying Roughen Edges and Turbulent Displace. I then pre-comped the animation and added Posterize Time at 12fps to make it look like it was shot on twos. I think this technique or a variation will give you a similar look to the example you provided. Let me know if you would like to see a copy of the AE project file and I can email it to you.
Also, Light Writing Part 1 and Part 2 are older tutorials from Creative Cow leader Aharon Rabinowitz but they share some timeless tips and workflows for using fractal noise in conjunction with displacement maps to wiggle static graphics for a more hand-drawn feel.
You can also find information and tutorials for giving motion graphics a more hand-drawn feel by visiting my blog: http://benmarkus.wordpress.com/