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Came across an interesting write-up by Tim Berners Lee titled "Cool URLs dont' change",
and found many more interesting mistakes we do while writing web application and designing the architecture. We normally design the web sites with Dirty URLs by-default (in most of the cases).

e.g. My profile at Microsoft can be reached if you can type

http://www.microsoft.com/communities/mvp/mvpdetails.mspx?Params=%7eCMTYDataSvcParams%5e%7earg+Name%3d%22guid%22+Value%3d%227bafd4ec-d246-4adc-bcca-e1a150556df4%22%2f%5e%7esParams%5e%7e%2fsParams%5e%7e%2fCMTYDataSvcParams%5e

 So What is a Dirty URL ?

according to port80software :

Dirty URLs
Complex, hard-to-read URLs are often dubbed dirty URLs because they tend to be littered with punctuation and identifiers that are at best irrelevant to the ordinary user. URLs such as http://www.example.com/cgi-bin/gen.pl?id=4&view=basic are commonplace in today's dynamic Web. Unfortunately, dirty URLs have a variety of troubling aspects, including:

01. Dirty URLs are difficult to type.
02. Dirty URLs do not promote usability.
03. Dirty URLs are a security risk.
04. Dirty URLs impede abstraction and maintainability.

from "Towards Next Generation URLs"

More Articles
Numerous articles have been written about the need for clean URLs. A few of the more prominent ones are cited here.

• Tim Berners Lee's Cool URIs don't change
• Jakob Nielsen on URL as UI
• Bill Humphries @ Zeldman's on URLs! URLs! URLs!
• Clean Up Those URLs with Apache
• Making "clean" URLs with Apache and PHP
• Search Engine Friendly URLs with PHP and Apache: Part I and Part II