The sh404SEF component is a terrific tool for creating and maintaining SEF URL's for your Joomla site - and to make it more Google - and user - friendly, with one condition: to have a SEF plugin for your components already delivered to you with the sh404SEF or to find one ready-made on the web.
Luckily most of popular components are already covered by the component itself, or there are geeks on the net (like me) publishing the needed add-ons. One of notable exceptions is the popular form component, Chronoforms.