Performance penalty is fairly significant ( unless it's done up front, i.e. to setup a pool of processes, like Apache's prefork mpm ). So doing a fork() per each request is actually a really bad idea (as is creating a new thread, but that's a whole other rant I have reserved) -- I'd say it's an anti-pattern (in Java world it's the "one thread per connection" Enterprise(TM)(R) idiocy lot of servlet containers do/users to do disregarding ThreadPools and NIO).

Memory penalty really depends on your language and its VM (and it's assuming no memory leaks). I haven't looked at arc + mzscheme, but it's actually a big issue for me at work with Perl right now at my present work (too much functionality was implement as cronjobs invoking Perl scripts which do system() after system() -- vs. doing it as daemons doing xs calls into C libraries).

I'll grant mzscheme and arc are likely lighter weight than Perl and its JIT, but unless you're doing pure C it's only a matter of degree.