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I can't comment on ATMs in the US but in the UK the money is definately taken back into the machine if it is not picked up within twenty seconds or so.

If the atm was at a branch of your own bank then it should automatically be credited back into your account. If the machine belonged to another bank then you may have to make a request to your bank for them to reclaim the money (although this isn't usually required)

I know this because my toddler ran off before my partner could take his cash and catching her heading towards a road was more important than waiting for the cash.

He spoke to his bank and they told him it would be back in his account within a couple of days because, luckily, no one else was near the machine during the 20 seconds his cash was waiting to be taken.