It is very possible, such a system is called link alias I think. But given a large number of items i wonder if it's worth it?

I will look into that.

Yup, we can remove short words.

here is my first attempt to move the p and c to the end:
http://demo.rubikintegration.com/zencart/


PS: for anyone using ultimate seo and happy with it, stick with it. switching can always cause a headache.