What are these positions (officers, board, or committee members)? What exactly is the term of office? Are you filling vacancies and electing new members?
Generally, the validity of an adopted motion has nothing to do with whether it was recorded in the minutes. Would you explain what you mean by "a point of law"?
Since your organization has disciplinary procedures different from those in RONR, it will be up to your organization to determine the answer to your question.
I'm not sure of what is being described here. What body is meeting? Who are "camera people"? Who are the "people telling them"? Are they members of the body that is meeting?
Generally a motion to censure is simply an expression of opinion (it would not cause the initial vote to be re-voted upon). There may be applicable law which would control in your situation. An attorney should be consulted in that case.