for the cd-rom, use this type of fstab-line (of course with your own node names and mount points):
/dev/cdroms/cdrom0 /mnt/cd iso9660 user,noauto,unhide 0 0
make sure options include "user" but no "ro". then, for the windows fat32 drive:
/dev/discs/disc0/part1 /mnt/hda1 auto defaults 0 2
fstab entry. part1 is the partition, hda1 is the mountpoint, defaults might do or then give it somekind of options like "users"...that ought to do.
EDIT: looks like my fat32-drive has the type of "auto" which might be better to be set to "vfat"...like this:
/dev/discs/disc0/part1 /mnt/hda1 vfat defaults 0 2
auto works too (it works on my machine) but why not use "vfat" when it means fat-drive
also, because I don't have the "user" in the options, I can only mount that drive as root. that suits me well...but not for you necessarily.