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"I'm shaking right now, that thing is massive!" Hudson says in the video.
He said his son had been washing his hands in the water moments before the shark appeared.
"It was amazing," he told WAToday. "It was placid and showed no sign of aggression."
Hudson said he does not believe the shark posed a danger during the encounter, but he was frightened at the time and decided to steer the boat away from the predator.
"I tried to stay calm for the kids, I didn't want to hang around and scare them," he said. "I got around [.6 miles] away then stopped to get the boat in order but the kids were worried we were not far enough away."