I have found a proof that does not use Cayley-Hamilton theorem.
The roots of $p(x) = -x^3$ are precisely the eigenvalues of $A$, so $A$ has only one eigenvalue: zero. We will prove that $B=\{w,Aw,A^2w\}$ is a basis for $\mathbb{R}^3$ by first showing that $Aw$ is not a multiple of $w$ and then that $A^2w$ is not a linear combination of $w$ and $Aw$.
If $Aw$ was a multiple of $w$ then $w$ would be an eigenvector of $A$ and $Aw$ would be zero, contradicting assumption. Thus, $w$ and $Aw$ are linearly independent.
Let $V = \mathrm{span}(w, Aw)$. For a proof by contradiction, suppose that $A^2w$ is a linear combination of $w$ and $Aw$. In this case, $Av \in V$ for every $v \in V$. Thus, we can consider the restriction $B$ of $A$ to $V$. Every eigenvalue of $B$ is an eigenvalue of $A$. Therefore, the only eigenvalue of $B$ is zero. Let $aw + bAw$ be the eigenvector of $B$ associated with the eigenvalue. Then
$$
aAw + bA^2w = 0.\tag1
$$
Now, $Aw \ne 0$ and $A^2w \ne 0$ so $a \ne 0$ and $b \ne 0$. Therefore, we can write $(1)$ as
$$
A^2w = -\frac{a}{b}Aw,
$$
but this means that $\frac{a}{b} \ne 0$ is an eigenvalue of $A$ contradicting the fact that its characteristic polynomial is $p(x)=-x^3$. Thus, $A^2w$ is not a linear combination of $w$ and $Aw$.