Cytoskeletal nucleation refers to the _de novo_ formation of cytoskeleton filaments. If microtubules are nucleating, that means microtubules are being polymerized from lit. "From the beginning" by α/ß-tubulin dimers. So literally, and we see in the image below, Arp2/3 complexes act as progenitor sites so to say for new actin filaments by the "nucleation" of actin:
!enter image description here
From wikipedia for Nucleation: "Nucleation is the first step in the formation of either a new thermodynamic phase **or a new structure via self-assembly or self-organisation**."