Kidnapping

A Michigan teenager was abducted from her bus stop at gunpoint this week ... and the scary incident was caught on camera.

You can see the horrifying situation unfold in the clip -- a gray SUV pulls up to the curb in a residential neighborhood in the Detroit metro area. A male steps out and urgently walks over to the bus stop, where he then points a gun at the victim -- a 16-year-old girl -- and forces her into his vehicle before driving off.

The kidnapping went down Monday just before 7 AM, according to police.

TMZ also obtained the gut-wrenching 911 audio -- listen above -- the victim's schoolmate describes the shocking situation and reveals the man was wearing a mask. The caller, a minor, becomes emotional at one point and says she was scared ... but is able to cough up a description of the victim and the suspect.