Cheetah 36ES specs
Adaptec 29160 specs
Let's start with the physical connections. The SCSI cable should have a terminator on one end. There should be a plug just about an inch from the terminator. Plug the hard drive onto that plug right next to the terminator.
The opposite end of the cable from the terminator should plug into the 29160. 29160's have two internal 68-pin fittings on them, and the fitting closest to the rear of the computer is the one you should plug the SCSI cable into. The other one is for SE devices. There are also 29160N's, so if you have the N version, please holler
The drive has an ID jumper but unless it's set to the forbidden 7, it really should not matter what particular ID it's set to. 0 would be fine, if you want to set it yourself. Refer to the technical manual that you'll find at the Cheetah 36ES link up above, it shows the jumpers.
See if you had a slip-up on any of that stuff. Otherwise, post back with an update. Welcome to the Forums
drengr 