First lesson.... RCA is a connector type, not a connection type. Digital audio, composite video analog audio and component video all use RCA CONNECTORS on the cables.
Now, for hook up...
From CD/DVD - player...
Digital Audio connection from CD to Receiver (either a video grade cable (RCA end) or Toslink optical type cable) For the video, run component video (3 cables with RCA connectors on each end, red, green, and blue) from the player directly to the TV - BYPASS the receiver.
VCR - L and R analog audio (2 cables with RCA connectors - usually red and white) to the receiver. Connect the video directly to the TV
Cable box - depends on what outputs you have.
PC - depends on what outputs you have.