Most around here suggest to use wide dispersion (the RS series) for the side surrounds and direct firing speakers (RB and RF series) speakers for the back surrounds. So if you picked up the RS-42's, the ideal placement is about 10 - 20 degrees behind the listening area on the side walls.
You are heading in the right direction. Here are the recommended speakers for a 5.1 system using the RB-51's up front. Later down the road, if you wanted to upgrade your mains, you could move the RB-51's to rear duty and get a pair of RF-52's for the front to make a 7.1 system.
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Panasonic AE3000u Projector
103" Elite Cinescope (2.35:1) Screen
Yamaha RX-V1800
Klipsch RF-83's (Cherry)
Klipsch RC-64 (Cherry)
Klipsch RB-35 Rears
Velodyne HGS15 Sub
Harmony One (on it's way)
Klipsch Promedia 5.1
PS3 (80 gig) for Blu-ray
Wii
Photo Gallery of Completed Theater Room My HT Build thread