Oopsie
@SolidTango your iPhone is a Unix computer in disguise. We use ssh (secure shell, google it) to communicate with and configure Unix computers using a command line interface. Putty (google it) is a good Windows ssh client. Ssh can also be used to access the file system (folders and directories) on a Unix computer. This is done with software like WinSCP or FileZilla, google them for more information.
If you're still on the jailbreak path, here are the next steps:
Install OpenSSH server on iPhone so you can ssh to it. (Cydia)
Find out what the default password for the iPhone's "root" account is and change the default password so people around you won't be able to take over your iPhone.
Use WinSCP or FileZilla (or CyberDuck if you're on a Mac) to access the iPhone's file system via the scp protocol, using the root account.
Browse to /var/mobile/media/videos and download your cycorder videos.