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I'm not sure about your particular phone but on mine you would go to settings>applications>manage applications, then touch the all tab, scroll down to camera, touch that and then touch force stop. Other than that, if your not using the app and leave it alone, the AOS will close it eventually if more RAM is needed.
I had a Sensation 4G on T-Mobile (basically the same phone). I never had any issues with the camera app - it takes up a lot of memory, so typically I would just hit the home button, and Android would stop it completely.
To be honest with you, you won't find much support for the Sensation lineup over here. Our sister site, Android.net has a Sensation section, but your best bet is xda-developers... there is a LOT of Sensation activity over there, as it's a wonderfully hackable phone.