PCA in R is covered in a classic book on S-Plus that is also relevant for R: Modern Applied Statistics with S-Plus by Venebles and Ripley. http://www.amazon.com/Modern-Applied-Statistics-Computing/dp/1441930086/ref=sr_1_2?ie=UTF8&qid=1328789554&sr=8-2
Various implementations of PCA and related methods (such as canonical correlations) are listed on the R website http://cran.r-project.org/, under "Task Views" > "Multivariate". There is an entire section on Principal components.