Yes, all this has been asked before, and it’s hard now to decide what a duplicate of is, because of so many questions here. Please, use the search box before posting questions, and ask one single question per post. Thanks.
Now, to answer your questions:
Books:
- https://stackoverflow.com/questions/1114287/good-book-for-beginning-android-development-closed
- Best Android 2.0 development book?
Sensors:
- Android Gyroscope tutorial or sample code
- Android accelerometer
- http://www.helloandroid.com/tutorials/using-android-phones-sensors
- http://stuffthathappens.com/blog/2009/03/15/android-accelerometer/
- http://dansabin.com/2010/10/19/accelerometer-tutorial-for-android-1-6/
- http://www.ibm.com/developerworks/opensource/library/os-android-sensor/index.html?ca=dgr-lnxw09Android-Sensors&S_TACT=105AGX59&S_CMP=grlnxw09
SGS:
Yes, it has accelerometer and compass sensors: http://www.phonearena.com/phones/Samsung-Galaxy-S_id4522