This page has some info most people don't know...http://www.lego.com/eng/create/technicdesignschool/lesson.asp?id=1_c&page=3Steve
BrickLink does a reasonable job at cataloging dimensions. They have recently added NXT parts.
I belive CMU put up ProE models of all the NXT parts, it should be quite easy to dimension these and throw drawings up if anyone is really intrested. I'll do it tonight if have some time.
One of the best sites for this information I have come across ishttp://isodomos.com/ Look under Technica and then Element List by Class.I have used it as a reference for a long time but unfortunately it hasn't been updated for a couple of years.There is a lot of other interesting information on this site as well.
I put up some drawings that have the exact dimensions of the various NXT LEGOs over at Motocube.com for those taht are intrested.
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