Your code was really close, you just need to remove the var from in front of the section where you create the layers (see below).
imageryPrime = new esri.layers.ArcGISTiledMapServiceLayer("http://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer", {id:"imageryPrime"});
map.addLayer(imageryPrime);
streetMap = initLayer("http://server.arcgisonline.com/ArcGIS/rest/services/World_Street_Map/MapServer", "streetMap");
shadedRelief = initLayer("http://server.arcgisonline.com/ArcGIS/rest/services/World_Shaded_Relief/MapServer", "shadedRelief");
ngsTopoUS = initLayer("http://server.arcgisonline.com/ArcGIS/rest/services/World_Topo_Map/MapServer", "ngsTopoUS");
boundariesWorld = initLayer("http://server.arcgisonline.com/ArcGIS/rest/services/Reference/World_Boundaries_and_Places/MapServer", "boundariesWorld");