In straight Javascript you could do something similar to the following:
var kvpairs = [];
var form = // get the form somehow
for ( var i = 0; i < form.elements.length; i++ ) {
var e = form.elements[i];
kvpairs.push(encodeURIComponent(e.name) + "=" + encodeURIComponent(e.value));
}
var queryString = kvpairs.join("&");
In short, this creates a list of key-value pairs (name=value) which is then joined together using "&" as a delimiter.