Setting up wireless networking with two Linksys WRT54s(G&G2)

When utilizing more than one Linksys WRT54, what are “cascading”, “bridge”, “point-to-multipoint”, and “repeater” configurations and how do I know which one would be best suited for my situation or if my equipment is capable of the configuratuion I need to use?

I have the main router (WRT54G) connected to the Internet gateway with a NAS also connected to the wireless router. In another part of the building I would like to have the other router (WRT54G2) where two computers and two network printers share printer and Internet access on the network with the other wireless router. Can I accomplish what I want with this equipment?