Free Map Viewers
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ArcGIS Explorer Desktop
is the latest version available and recommended for newer PC's.
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MrSID viewer
for MrSID format images.
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Acrobat Reader
for PDF files.
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ArcExplorer 9 - Java Edition
... No longer supported but maybe practical for older PC's. Will view SHP, TIFF, JPG and some web services.
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ArcExplorer 2
... No longer supported but maybe practical for older PC's. Will view SHP, DXF/DBF, TIFF, JPG and E00s converted to coverages.