For those who subscribe to Andrew on YouTube (obviously), you will see a video on your time line that says he is live streaming. You just click on it like you are watching a normal video. There will be no link provided here ahead of time due to the way the Google+ Hangouts and YouTube streaming is setup. Just make sure you view your time line at the time designated for your time zone for the video.
Maybe Andrew should also take questions via the The Fire Panel TeamSpeak server. Downloads and instructions found here. The rules found here will be enforced.