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I use now appcelerator because it gives me access to this functionalities while still allowing a cross-platform development. But when do you think it will we possible to do this things using HTML5? Do you think that would be the end of titanium?
According to this blog post, Safari Mobile supports accelerometer access through Javascript starting with iOS 4.2. There is also a demo (requiring Safari Mobile) included in the blog post.
GPS can be accessed through the Geolocation API in Javascript, which is supported by most modern browsers, but will obviously only work on devices with some sort of geolocation.
As for the camera, I believe PhoneGap handles this, but that is probably through native hooks of some sort.
While that doesn’t definitively answer your question, hopefully it points you in the right direction!