I saw bits and pieces of this on a program on History Channel. I think it was called "Tiger Attack" or maybe one of the "Heavy Metal" episodes. I can't be certain. There was also a website that told the story behind the footage but I can't recall the URL.
So I'm pretty much useless at the moment.
You're right - the enemy tank was spotted by a Sherman crew and radio'd in to the Pershing. The cameraman was with the frontline combat troops and was told where the enemy tank was and where the Pershing would make its approach. The cameraman climbed up the rubble of a building in order to get a clear view (hence the elevated angle). The first shell to pierce the enemy tank cut off the tank commander's legs. The rest of the crew then began bailing out and were gunned down. They were Nazis and there was a war on.
a link with a brief bit about the engagement. I know there's a better one out there with photos. Let me dig a bit more.
another, better link to the story.
By the way, I couldn't get the .avi to play, but I've seen the footage on television before.