It's great to see the steady rise of SVG on the web (finally!).
I've created a small JavaScript library for SVG, called "Pablo": http://pablojs.com
It packs in a lot for its size. Pablo lets you create and manipulate SVG, somewhat similarly to using jQuery and Underscore.
For those near Brighton, UK - there's a launch event this Friday: http://brightondigitalfestival.co.uk/events/pablo/