Yes, every animation is usually rendered to sequence of images. If you use QT Pro you can then open the sequence and convert it to a movie and export it to H.264. If you don't have an NLE then  it's time to download Blender and use its Sequence Editor to generate the movie. From Blender you'll be able to export to QuickTime H.264 which will be just fine for YouTube.
If this sound complicated, well, nothing about video production is easy, nothing :)

Paolo

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