In order of performance (best to worst) here is how most geeks out there would classify them:
eSATA --> Firewire 800 --> USB --> Firewire 400
Reference
Firewire vs. USB: A Comparison
http://www.directron.com/firewirevsusb.html
How firewire works
http://computer.howstuffworks.com/firewire3.htm
eSata Compared to Firewire 800
http://macperformanceguide.com/Storage-Drive-SATA-vs-Firewire.html
USB 2.0, FireWire, Or eSATA: Which Interface Should You Use?
http://www.tomshardware.com/reviews/usb-firewire-esata,2534.html