What cable do I need for this connection
It is a composite signal being output via BNC connection.  This connector is used in most professional applications as it is heavier duty and can lock to the connector so that it does not accidentally come detached.  I'm not 100% certain if this standard is compatible with RCA connectors (I started working with BNC with component video and mostly with SDI, so I'm not that familiar with composite on BNC), but it may be possible to run this in to a normal component video input (the little yellow RCA connectors on VCRs for example) via an adapter.