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For my sites I prefer to use user-friendly URLS so they look nice and pretty when a searcher sees them on the Google results. To keep my WordPress installs nice and fast I use a plugin called W3 Total Cache. Any time the server doesn't have to hit the database it will be much faster -this plugin helps with that. I also use another plugin called CSprites (or something like that) to put all images into a sprite file. This combination, plus a dedicated server, keeps my sites serving very fast even with some dynamic widgets on the page.