Nelson recorded 10 tackles over the past two seasons.
Belgrave-Shorter lost his starting safety spot after only three games in 2025.
Veidt previously worked with Matt Campbell at Toledo and Iowa State.
It's just the second loss on the season for the Nittany Lions.
Clifford served as Penn State's emergency quarterback for much of 2025.
Kiesewetter was the Pennsylvania 1A Player of the Year in 2021.