I swear occasionally in my lectures, and haven't had too many issues as long as you follow 2 rules: 1) Do it sparingly, and only for effect. If you do it constantly, you end up sounding uneducated or unprofessional. The occasional slip on the other hand can be humanizing and "charismatic". 2) Bleep the word. No one wants to hear the actual word, and if you bleep it they'll still know what you said. The bleep staves off the people who might be offended by it and it occasionally adds a comedic effect (if you don't believe me, try bleeping random words in your lectures - it's hilarious) My two cents.
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