Understanding the penetration dynamics of intruders in granular beds is relevant not only for fundamental physics, but also for geophysical processes and construction on sediments or granular soils in areas potentially affected by earthquakes. While the penetration of intruders in two dimensional (2D) laboratory granular beds can be followed using video recording, this is useless in three dimensional (3D) beds of non-transparent materials such as common sand. Here, we propose a method to quantify the sink dynamics of an intruder into laterally shaken granular beds based on the temporal correlations between the signals from a reference accelerometer fixed to the shaken granular bed, and a probe accelerometer deployed inside the intruder. Due to its analogy with the working principle of a lock-in amplifier, we call this technique lock-in accelerometry.