Four areas which are evaluated by coaches and judges:
Synchronicity- working in unity with the rest of the squad
Accuracy/ Precision- consistently performing the same moves as learned or demonstrated
Sharpness- moves are clear, distinct and athletic/ accents and 8 counts are emphasized
Timing/Tempo- fast enough not to "drag," but slow and even enough for fans to cheer along
Here are some videos which will teach you important cheer fundamentals.

Hitting motions sharp

Basic motions

More DIY videos at 5min.com


Learn a basic chant

More DIY videos at 5min.com


Another basic chant

Here's several chants to learn from YouTube


The difference between cheers and chants

More DIY videos at 5min.com


And here's a Floor Cheer (instead of just another Sideline Chant)

More DIY videos at 5min.com