All in all, 53 seconds are missing due to 2 cuts. Compared are the French Version (German DVD by Kazé) and the Uncut Version (Unrated US DVD box set by Funimation).

2:26
The shot of Son-Goku is briefly longer (probably cut due to a better transition regarding the audio).
Son-Goku's hand is slipping off and he cuts himself with the rope. Blood drops on the ground.
6.20 sec

16:40
The French Version still contains a single frame of the first shot after the cut (hard to recognize when one is not watching both versions simultaniously).
Vegeta's fist penetrates Zarbon's belly. The music fades.
Zarbon: "Vegeta! I was just boring all days. Please don't kill me."
Vegeta: "Is it just me or does it sound like you're bagging for your life after all, Zarbon?"
Zarbon: "Vegeta! Spare me and we will be a team."
Vegeta charges a Ki-beam by which Zarbon gets penetrated.
46.68 sec