Videos and still images make it look similar to the "whip kick" taught with breaststroke or elementary backstroke. Someone on the site here described it the same way. I tried that combined with imitating the UTD videos on a couple occasions, and got severe knee inflammation for several days afterward. Hopefully my mistakes will save the OP and others some pain. We used to sit by the pool doing the swim kick by numbers: bend the knees with feet together, cock the feet heels in, whip the feet outward and back together while straightening the legs, then glide. ("drop, cock, whip kick, glide" chanted over and over. I still hear the instructor 30 years later)
For those that know the frog kick well, is there a significant circular movement with knee extension? It seems that the torquing whip/rotation and simultaneous knee extension against stiff fins caused the problem. It was either very painful synovitis or ACL inflammation. Given that so many divers can do the kick painlessly and long-term, clearly there are right ways to do it. Feel free to consider me a cautionary example of kicking harder, not smarter.