The general disturbance in the surface of the pencil comes from the Normal map, but there is some faint changes also in the Roughness map.

The tip has a voronoir pattern both in its Normal and Roughness map.

The drawing effects were done with dynamic paint maps in Blender, usually with a small sphere as a brush, parented to the pencils tips.

All of the lines had applied the same set of shader nodes, to make sure they had a consistent look across the video, this also includes the sketching shots.

In the shot where there is a few pencils drawing lines, I added a gradient with noise on it to have varying color in the strokes.

   

 

I ran into a problem when I realized blender dosn't have any way to trigger the "animated" property in rigid bodies ON or OFF.

With some researching and trial and error, I managed to come up with a driver that de-activates the animation property ones it goes under a certain height. If I also make sure

to let the driver only run if it is un-checked, I also prevent it from re-activating ones it goes over said height again(due to bouncing around on the ground).

I also wrote a small script that applies the custom property and the drivers.

You can check that out here; https://pastebin.com/JBssSZzt

 

 

I always try and use Geo Nodes wherever it makes sense to, as with the proceduralism you can a lot of flexibility in terms of changing you scene and setup quickly. 

For the scene in the gif above, I had a gradient to drive the rotation of the pencils, so when the gradient moves the pencils rotate with it.