We investigate the Casimir effect in the systems that consist of parallel but misaligned finite-size plates from the point of view of zero-point energy. We elaborate the zero-point energies of the radiation field in the perfect conductor systems would generate a tangential Casimir force, and explore the properties and consequences of this tangential force in various conductor systems. Thereafter, we generalize our discussion to dielectrics. After calculating the total zero-point energies of the surface modes in the multilayered systems, we show that the tangential force also exists in dielectrics. We obtain the finite-conductivity corrections to the tangential force for imperfectly conducting plates, and calculate the finite-temperature corrections to the force. The typical strength of the tangential force suggests it might be observable.