The top and side cameras have infinite focal length, which probably isn't what you want for animations. If it is, you can mimic it on the other cameras by setting focal length to zero. I would recommend using the main camera and just putting it somewhere that gives you the angle you need for what you're trying to do. As for zooming, there are three little balls just below the four hands. Top left one is the "scale" ball. It's no good for top/side cameras but should work OK with the others.

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