Ok DB, if a pc runs ok in safe mode but not in normal wondows its usually because of a problem when it loads either some drivers or a program or some hardware that arent loaded while in safe mode.
This is why it runs ok in safe mode as it has minimum drivers and programs loading.
The error message you get is possibly related to some usb devices, according to this article :
http://support.microsoft.com/default.aspx?scid=kb;en-us;327863&Product=winxpI would suggest that you disconnect any usb devices that you have which arent needed when you initially start your pc and if it runs under normal windows then add them one at a time and see if you can find out which one causes it to crash.
It may be something as simple as a driver for that device needing reinstalling, hopefully
If its not that then another thing to try would be to run MSCONFIG from the Start/Run box and go to selective startup and untick any programs that arent needed on initial startup in case one of those is causing the problem, although my moneys on a USB device at this stage