Two of those cables are for power (likely 12v). One is for video, and the other is maybe a second ground.
If you can find which cables are for power, you can wire the other one to an rca plug, and it will work. Security cameras usually use a BNC type connector, but RCA will work.
Likely:
red -> (+) power
black -> ground, usually for power
yellow -> video
blue -> ground, probably for video