From the curl relations for E and H and the assumption that the propagating fields are of plane waves, one can obtain
$$
\begin{aligned}
\mathbf{k}\times \mathbf{E} = \omega \mu \mathbf{H} \\
\mathbf{k}\times \mathbf{H} = -\omega \mathbf{D}
\end{aligned}
$$
Combining these will yield ##\mathbf{k} (\mathbf{k}\cdot\mathbf{E})-k^2\mathbf{E} = -\omega^2 \mu \mathbf{D}##. Then use the relations like ##\mu = 1/(c^2\epsilon_0)##, ##\mathbf{D} = \epsilon \mathbf{E}##, and ##\epsilon = \epsilon_r\epsilon_0## to transform the RHS into ##-\frac{\omega^2}{c^2}\epsilon_r\mathbf{E}##. So now,
$$
\mathbf{k} (\mathbf{k}\cdot\mathbf{E})-k^2\mathbf{E} = -\frac{\omega^2}{c^2}\epsilon_r\mathbf{E}
$$
Then substitute ##\mathbf{k} = \frac{\omega}{c}n\mathbf{s}## to eliminate ##\omega## in both sides. By taking element-by-element comparison between right and left sides you should see this expression leads to what is written in that slide.
NOTE: I don't think there should be ##\mu## in the LHS of the equation in the slide as its presence will violate the requirement that the LHS and RHS should have the same dimensions.