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well first of all - maybe you want to look at the altec lansings over at OVERSTOCK.com.
they have the top of the line - 5.1 altec lansing THX certified speakers for only 129.99. i believe retail for the 251 is 99.99 - so it would make sense to pay the additional 30 bucks and get a much better sounding system (it is a 2-way speaker not a 1-way speaker like the 251 has).
anyway, back to your positioning question.
you want all your speakers to be at ear level - there is nothing worse than not having it at ear level - might as well not have a speaker system if thats the case.
also, the center should be directly infront of your listening postion.
the two fronts must be positioned infront of you but to your left and right - make sure they are equally spaced - so you get the full soundstage effect.
the two rears must be positioned behind you (to your rear left and rear right) - this will serve as your effects speaker, very useful in games and movies.
but remember, ear level.
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