I can think of several ways it was done. Obviously motion control is involved. But were there rostrum rigs capable back then of doing this? Or did it involve using a huge rig and shooting lettering several inches tall?
Note that the thickness is greater when not 'zooming' and there's a clear mix from one to the other, so two sets of lettering were used. Back then you had to get it right in camera!
The end titles were all stuck on black card sitting upright on the studio floor (the long process stage at Pinewood is my guess) and the camera tracks backwards over them. It gave the effect that they are receding physically behind each other (which they are) off into space. A giveaway as to how it was done is that in the distance they start to overlap and the edges of the cards begin to show. It runs for several minutes!
One of my favorite 'real' lettering credits was Doug Trumbull's for Brainstorm in which they tracked while zooming in on model letters so you got that weird change in perspective. was good to see in 70mm in theatres that had it.
Here's how the opening looked in 2006 using CG.