the Camera command (keyboard shortcut F6) will let you Show/Hide the camera in your viewports
Abbreviations:
RMB = Right Mouse Button
MMW = Middle Mouse Wheel
Moving the Camera:
Tumble around target
RMB or arrow keys
To "break" a orthogonal view (such as your standard Top, Front, Right, etc.) and enter a tumble, use Ctrl + Shift + RMB
Pan Moving Camera and Target
Shift + RMB
In orthogonal views, RMB alone will do this
Pan with Camera Remaining Stationary, Target Moving
Ctrl + Alt + RMB
Tilt (Dutch)(Roll?) Camera - Revolve camera about axis
Shift + Alt + RMB
In V4, doing this with the cursor at the edges of the viewport will constrain the rotation in 5 degree increments
Zooming
Zoom - Keeping target in the same plane
Note: The target will not stay in the exact location, it will stay in the same plane perpendicular to the camera, however it's position on that plane will change depending where the cursor is located during the zoom
MMW
CTRL + RMB
If you are using this method in a perspective viewport, you will find that as you zoom further and further in, you will eventually start to run into your target, which gives the appearance of not being able to zoom in any further. To correct this use Place Target
Zoom - Moving the target with camera
Rhino V3
Shift + MMW
Rhino V4
Alt + MMW
Alt + RMB
Lens Zoom - Camera and target stationary, lens changed to zoom
Alt + Shift + Ctrl + RMB
Reassign camera target point, handy when you run into your target while zooming