How long ago did the orcs arrive on Azeroth? I wasn't able to find a definite answer in poking around various Lore sites this morning, and Wormson wants an answer for some, uh, stuff.
The wow-europe.com has a timeline somewhere but if you want ALL the info on EVERYTHING EVER then you could... borrow... the RPG sourcebooks I have on my computer.
Technically speaking (and according to the novels) the first orc in Azeroth would've been Thrall, after he was transported back in time to aid with the war effort against the Scourge when the Highborne first used the power of the Well, hundreds (if not thousands) of years ago.
But that's being pedantic as I don't really know the proper answer.
Here's the official timeline. Reading through the story bits on that site, it looks like the dark portal was opened onto Azeroth, releasing the Orcs into Azeroth, 25-30 years before the events in World of Warcraft.
I'm not sure if this is of any help if you have already checked lore sites, but here goes: http://www.wowwiki.com/Main_Page It has served me well so far.
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"So, your race come here often?"
"You been here since creation, or did you just get in?"
"You're new here? Let me show you around..."
No reason, of course...
(Please note, Thron is *so* much classier than any of the above. Not that it has any bearing on any orcs or anything. At all. No, really...)
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But that's being pedantic as I don't really know the proper answer.
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It has served me well so far.