I understand you don't prefer to use jQuery. The resources below might help you to handle Touch event without using jQuery.
1. W3C
http://www.w3.org/TR/touch-events/#dfn-touch-point
The W3C has published the Candidate Recommendation "Touch Events version 1" on 15 December 2011. In this recommendations 4 types of touch events are mentioned.
touchstart event
touchend event
touchmove event
touchcancel event
2. Mozilla Developer Network
https://developer.mozilla.org/en-US/docs/DOM/Touch_events
On the Mozilla Developer Network, you can see the definitions of "Touch events" and
the example codes to handle touch events.
function startup() {
var el = document.getElementsByTagName("canvas")[0];
el.addEventListener("touchstart", handleStart, false);
el.addEventListener("touchend", handleEnd, false);
el.addEventListener("touchcancel", handleCancel, false);
el.addEventListener("touchleave", handleLeave, false);
el.addEventListener("touchmove", handleMove, false);
}
3. iOS Developer Library
http://developer.apple.com/library/ios/#DOCUMENTATION/AppleApplications/Reference/SafariWebContent/HandlingEvents/HandlingEvents.html#//apple_ref/doc/uid/TP40006511-SW5
Apple's document might help you to know the "Supported Events" on iOS.
4. On HTML5 ROCKS TUTORIALS
http://www.html5rocks.com/en/mobile/touch/
The article "MULTI-TOUCH WEB DEVELOPMENT" shows a useful example code without jQuery.