"Whiteboard" animations are typically considered any video or animation of a concept being explained through live drawing. The first one we produced, our approach was to film me drawing live on a whiteboard. Later versions saw us adapting a more streamlined, digital approach, that utilized multiple layers of the art and different drawing hand stills.
Years later we improved our approach, doing all the animation in After Effects. The animator utilized a multi-layered file of the artwork and several snapshots of my arm holding different markers in different positions. Much easier and efficient!