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https://www.youtube.com/watch?v=bejrCsPD52Q
https://imgur.com/msYTCgX
The motion that you keyframed is internally represented in blender as a set of curves, that reflect the cameras rotation and location. These curves can be accessed via the graph editor. There you could add a noise modifier to your curves. For the bobbing effect you'd put that modifier on camera local X-rotation curve. You can adjust the amplitude and frequency of the noise to achieve the desired effect. Similar to most other buttons in blender you can also keyframe the noise modifier values to have control over the shake over the course of your animation.