You can search through the sidebar.plist.
~/Library/Preferences/com.apple.sidebarlists.plist
As for how far back this goes and when its re-written I don't know. I used it once to see if a specific drive was mounted to a system that didn't show up in the system.log .
In the Terminal.app run this command.
defaults read ~/Library/Preferences/com.apple.sidebarlists.plist systemitems | grep "Name ="
This will list all drives that were mounted. The above it user specific plist, if the person had access to other accounts you would have to run the above as them to see their mounted history as well.
Edit:
To find just USB devices check for the entry type 515.
defaults read ~/Library/Preferences/com.apple.sidebarlists.plist systemitems | grep -A 1 "EntryType = 515;"
For Firewire it would be 517:
defaults read ~/Library/Preferences/com.apple.sidebarlists.plist systemitems | grep -A 1 "EntryType = 517;"