In a large bowl, combine teriyaki sauce, pineapple juice, brown sugar, garlic, Worcestershire sauce, and pepper. Pour half into Ziplock bag and add beef. Seal and set inside a large bowl to keep from having an accident spill. Refrigerate for 6-8 hours. Refrigerate remaining marinade.
On metal skewers, alternately thread beef, shrimp, vegetables, and pineapple. Set aside.
In small saucepan, combine 1 1/2 teaspoons cornstarch with remaining marinade, whisking until smooth. Bring to a boil and cook for 1-2 minutes until sauce is thickened.
Grill kabobs on hot coals for 6-8 minutes, turning once. Baste with sauce. Continue turning and basting for 8-10 minutes or until beef reaches desired doneness. Makes 4-6 servings.