I have been experiencing this on and off again with most discussions leading to the possiblities of the peripherals being the main culprit. During one of the restarts, I experienced a reboot message much in the same way that HelicopterJon shows above. My message indicated an error in the graphics card, not anything to do with a USB conflict.
I also seemed to have this problem with the USB drive attached but when removed, after an indeterminate amount of time, I'd get the Black screen of death, unable to graphically VPN onto my machine, yet low level system services where still available such as my Plex server and Air Video servers still functioning without a problem.
I have a developer account so I posted a bug report on Apples radar service.
I use this machine as a test platform so I have a Yosemite beta, but also know that these betas have been pretty solid since the initial preview days and Apple doesn't seem to mess with system drivers too much on point releases...so I looked at my installation dates and see that I also installed a beta version of iTunes about the same time this issue initially occurred...so I'm trying to see if this occurs without iTunes running, specifically in full screen mode...since I've had similar experiences in the past when the OS was trying to run programs in full screen mode..
So...are any of you using the recent beta of iTunes 12.0.1.26?