Hm, I highly doubt that you could create something like crash course world history videos without expensive tools, but if you just want to reach something like that here are some tools:
Free:
Snyfig (http://www.synfig.org/cms/): The team behind synfig tries to create pretty much the thing you are looking for, I tried the program, but it still has some problems and I didn't like the workflow that much, but you should give it a shot, maybe you're getting into it.
Avidemux (http://sourceforge.net/projects/avidemux/): A bit like windows movie maker, but with more possibilities on the encoding and output, it also has filters with which you can create effects or add text. You could say it is the open source version of premiere... but with way less features.
Blender (http://www.blender.org/): Actually a 3D tool, but I saw a few projects which used it for 2D videos. The program is very powerful and has a strong community behind it, so I guess you could get a lot of support there, and you wouldn't have to worry about camera movement and transition effects. On the other hand you would need to get creative in how to use blender for your purposes.
CreaToon: I remember using this tool a long time ago, but it hasn't had any progress in the last ten years, so you won't find an active community, and no support. On the other hand I remember it as easy to use and pretty much what you are looking for.
If you are willing to pay, but not too much, there are also a few options:
Anime Studio (http://my.smithmicro.com/anime-studio-2D-animation-software.html): I guess that would be a good choice, even though you wouldn't need spriter anymore. There are some pretty cheap versions of the program too, so maybe that is what you are looking for. Just take a look at the refernces to get an idea, what is possible with the program.
Toon boom animation (https://www.toonboom.com/): Pretty much like anime studio.
If none of those are good for you, I suggest looking through this list: http://alternativeto.net/software/anime-studio/