I just moved from the Rochester Area after living there for four years.
Some things to note:
Rochester and Rochester Hills are DIFFERENT.

It's a bit of a political thing. Roch. Hills used to be Avon Hills or Avondale or something like that. I always got the feeling that RH piggybacked onto Rochester and used their name to ride on the "fame" (for lack of a better word) that Rochester has for being a great community. Don't be fooled into thinking there is love between the two. Rochester is Rochester, and they don't want RH creeping in on them. (I actually lived in RH, and I do volunteer work in Roch.)
That being said, if I could have found a house that I could have afforded, I would live in Rochester. I love the area. It offers "small town charm" while you're down there, yet still has a lot of "elegant" amenities for an upper class feel.
The schools are great - no doubt about that. There are some problems (Reuther Middle School), but in general, the system is academically sound. Also, they do not allow anyone outside the district to come in. You MUST live in the Rochester School District in order for your child to attend.
Library - Nice library. They offer a lot for a "smaller" town. I am always amazed at how full the library is with patrons. Seriously, I've gone in there during the week around 1pm and the parking lot is FULL. The library offers books, DVDs, CDs, Video Games, tons of computers, a great kids area, a large print area, a store and lots of events like a teen video game day (PACKED), musicians, speakers, etc. Something for everyone.
www.rhpl.org
Food Shopping - Within a few miles of downtown you can shop at: Trader Joe's, Whole Foods, Papa Joe's, Nino Salvaggio's, Meijer, Kroger, Hollywood Market, Super Walmart...am I forgetting any. Papa Joe's is GREAT. Now, I can't afford to shop there for all my grocery, but I go there for the amazing produce. I can get a lot for a very reasonable price, and the quality is OUTSTANDING. They have people constantly weeding out the older, "ickier" looking veggies and fruits. I love just walking through the place. Their sales are great, too. (NOTE: Royal Oak has a Trader Joe's and Birmingham has Papa Joe's, both on Woodward not too far from each other.)
Other Shopping - The downtown has many "one of a kind" stores. Of course there are strip malls and outdoor malls surrounding the area which contain everything from the typical Target and Best Buy to more upscale like Ann Taylor and Pottery Barn. (
The Village of Rochester Hills - yes, it's RH!) And I'd be remiss if I didn't get a shout to my favorite store of whimsy:
Catching Fireflies - Whimsical Gifts & Unique Home Decor (also one located in Berkley)
You'll never won't for a salon in Rochester. I think it is a city requirement to have one every ten feet or so.

(Salon Monaco ROCKS!)
Restaurants - Great to garbage. TONS of places to eat. I still haven't eaten everywhere downtown. The newest arrival on scene is Mind, Body & Spirits.
Mind Body & Spirits - Inspired Dining in Rochester, Michigan You've got upscale, you've got generic. You've got oyster bars, thai, indian, polish, deli - you name it, it's around. They even have their own brew pub/restaurant.
Hospital - Crittenton Hospital about a mile or so from downtown. I had to go there for some testing and have also had the pleasure of using their emergency room once. Emergency was okay - friendly, but I wasn't wowwed. General day-to-day - very efficient. They have a system for getting people in, through, and out without much hassle. I was surprised.
Festivals, Etc. - Rochester has a LOT of stuff going on for a small place. I'm sure I'll forget a few, but here are some of things that happen downtown:
Fire & Ice Fest (January)
Farmer's Market:
Welcome to Downtown Rochester (May - October)
Rochester Area Heritage Festival:
Rochester Heritage Festival Home (Memorial Day weekend)
Movies in the Moonlight (family fun movies shown in a parking lot downtown - July)
Arts and Apples Festival:
Art and Apples Festival (September)
Lagniappe (An awesome one evening "event" where the businesses downtown give out freebies to everyone as a "thank you" for their patronage. Lots of fun, and THOUSANDS of people. They turn on the lights then (see below). November)
Big Bright Light show ( The downtown is COVERED with a million lights - it's really cool to see.
Welcome to Downtown Rochester November)
Christmas Parade (This is "the" parade. It is televised by Channel 7 and Rochester is PACKED to the brim with people.
I'm sure I've missed a lot more. Lots of things going on during the summer, car/hot rod shows, art events, night time shopping....
Anyway, there is what I know and like about Rochester. If you ask my husband, he'd probably prefer Royal Oak. RO is okay in the right areas. You may also want to look at Berkely. I'm not big on Ferndale. Birmingham is nice, but expensive - probably the most expensive out of all of them.