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OK, here's the deal. Radial tires need to be rotated so that the tires continue to turn in their original direction. In otherwords, rotate the left rear to the left front, the right rear to the right front. Obviously, you move the front ones to the back on the same side. The reason is that the steel belts in the tires will settle into a certain position after time. If you rotate the tire any other way, you will significanty reduce the tire life.
Also, newer, lighter cars have much thinner rotors on them and they will warp if you over tighten the lug nuts. I've made this mistake on a Toyota Celica before. I could get away with turning the rotors once before they would need to be replaced due to their thinness. So, use a torqe wrench if you're driving a small to mid size car. If it's a truck or something heavy duty, don't worry about it too much.
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