I am especially interested in Google search results. Some web-sites use category IDs in their URLs while others use a more contemporary method of "friendly urls". I.e:
Old URLs: mywebsite.com/23151/32/
New URLs: mywebsite.com/my-category/my-page
If the new method is used, is the page's rank going to increase? (provided that all other things stay the same).
Say, I have a web-site which has a decent page rank but I want to increase it. It has lots of pages and it uses the old URL style. Is it worth changing the URL design to the new friendly style for SEO reasons?
P.S. When I say page rank I mean rank of the page in search results rather than Google PageRank.