In reply to SFrancis:
"I also thought any time the coefficient of friction was greater than 0 it held."
Cams exert an outwards force pretty much twice the pull and you have two sides to share the load. So long as the coefficient of friction is >0.25 the cam <should> hold (caveats apply). For most rock / alloy combinations the coefficient of friction for smooth surfaces is around 0.3 and a bit so cams hold. Polished limestones can have lower coefficients of friction and, without rugosities, edges, constrictions and the like, cams are known to fail.
Cam design could be altered to increase the sideways force to make the cams stick better but at the expense of lower camming ranges - AFAIK no one makes cams like this, presumably because the market and the safety margin is too small (plus when the cam range becomes too small additional caveats apply).
Before someone says, "why not make the cam stickier?", you need to consider the pressures under the cam - the contact area is tiny (compared with a foot or tyre) and the softer, stickier materials aren't up to the pressures and shear forces involved (in theory you could have lots of sticky lobes or really fat ones to spread the load but cost of extra weight (caveats apply)) .
However, if any one fancies falling onto an inflatable rubber bladder then we could get right onto designing the next generation of protection with sticky rubber ballons (errm perhaps not)...