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"Why does accessing directories only work when I include the trailing
"/" (e.g., http://foo.domain.com/~user/) but not when I omit it (e.g.,
http://foo.domain.com/~user)?"

"When you access a directory without a trailing "/", Apache needs to
send what is called a redirect to the client to tell it to add
the trailing slash. If it did not do so, relative URLs would not
work properly. When it sends the redirect, it needs to know the
name of the server so that it can include it in the redirect. There
are two ways for Apache to find this out; either it can guess,
or you can tell it. If your DNS is configured correctly, it can
normally guess without any problems. If it is not, however, then
you need to tell it. 
Add a ServerName directive to the config file to tell it what the
domain name of the server is. "

Hope this helps,

-Greg