Before the 2000's how were anime shows animated ?

things like outlaw star, yu yu hakusho, slayers etc. I remember a decade ago when these shows were on the air all animation(before we thought of it being anime) had a more sketchy, crisp, more grain/natural look to it. Now current anime for the most part looks, polished, smooth and computerized. I prefer older animation in general but Im wondering what the animation process was like was it drawn by hand ? animated on film reel ? colored in with old computers ?