As a prominent subcategory of cyber-physical systems, mobile cyber-physical systems could take advantage of widely used mobile devices, such as smartphones, as a convenient and economical platform that facilitates sophisticated and ubiquitous mobile sensing applications between humans and the surrounding physical world. This paper presents Vita, a novel mobile cyber-physical system for crowdsensing applications, which enables mobile users to perform mobile crowdsensing tasks in an efficient manner through mobile devices. Vita provides a flexible and universal architecture across mobile devices and cloud computing platforms by integrating the service-oriented architecture with resource optimization mechanism for crowdsensing, with extensive supports to application developers and end users. The customized platform of Vita enables intelligent deployments of tasks between humans in the physical world, and dynamic collaborations of services between mobile devices and cloud computing platform during run-time of mobile devices with service failure handling support. Our practical experiments show that Vita performs its tasks efficiently with a low computation and communication overhead on mobile devices, and eases the development of multiple mobile crowdsensing applications and services. In addition, we present a mobile crowdsensing application, Smart City, developed on Vita to demonstrate the functionalities and practical usage of Vita.