Camtasia and Pinnacle Studio do different things. I have both tools, but thus far have not really learned Camtasia.
Pinnacle Studio is a full video editor that works best for editing and combining video clips, adding background music, adding menus, transition effects, etc.
Camtasia is best know for its screen capture features. Most of the how-to videos that show you how to do something with other software is done with Camtasia.
The learning curve for both of these tools is formidable if you want to use them to their fullest.
Buy a high definition camcorder with good low-light capabilities. The HD camcorders have many more features. They all work pretty well, but from the research that I did, the Sony and Canon models produce the sharpest videos with the best colors. If you want to do professional videos, make sure that the camcorder has a microphone input. Most camcorders do not have this feature. I just bought a Canon Vixia HF M41. If you like that one, it's a $699 camcorder currently on sale at Best Buy's online store for $399.
Almost any camcorder can produce nice YouTube videos if you know how to use it.
"Democracy is two wolves and a lamb voting on what to have for lunch. Liberty is a well-armed lamb contesting the vote." -- Benjamin Franklin