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Window > Playblast >
Right click on the timeline and choose "Playblast > " from the popup menu.
Choose your options for the size, compression, location, filename, etc.
Encoding is a bit tricky at the moment. No good codecs appear in my dropdown...
Recommended playblast settings:
IYUV, 50% quality, 640 x 360 100% sizeFor short cycles, this usually results in a nice compact file <10 MG.
Autodesk Help has a more detailed explanation here:
Playblast animation at Autodesk Help