To stop your motion blur looking like a gradient you simply need to increase the quality.
Composition Settings > Advanced > Samples per Frame (default I think is 16)
For very fast animation with solid colours you may need to increase quite drastically – try 64 or even higher.
Higher samples number = better quality motion blur = longer render times!
With reference to the fluidity I think that it is just more practice & experiementing with keyframing… the example you posted was obviously produced by a highly skilled motion graphics animater.
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David Chappell
Freelance Motion Graphics / 3D
http://www.IncidentalTrees.co.uk