Prepare to Board! by Nancy Beiman is the book we are recommending to students of storyboarding here at Animation Apprentice. This is an excellent book from a master animator, who teaches at Sheridan College in Canada. It is arguably the best book you can buy on animation storyboarding.
Nancy Beiman was for many years a supervising animator at Disney (most notably on Hercules) and, like many old-school 2D animators, she does storyboards and character design as well as animation.
There is also a companion site online which has extra resources, and a free downloadable PDF Learning Guide.
And there's even a short two minute video to get you in the mood:
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