Look up workflows for special effects in movies, they have to match live footage and cg all the time. Nuke compositing software for example, it's used to match plates.
In order to create these kinds of animations you'll probably want to look into compositing software: Nuke, Fusion, After Effects. The keyword to look for is motion graphics.
I'm probably gonna cop a warning for this, and that's fair, I'll take it, but get absolutely fucked, NikhilR. Are you capable of going more than a few posts without crowbarring in your bigotry? Let me just break down your comment because I know you're going to do your usual bit where you pretend you only accidentally did a…
You can do it in Adobe After Effects, or Fusion, Nuke. Some 3D Software even has a integrated basic compositing application. For example Blender, or Softimage.