From what I've read (especially in
Deco for Divers by Mark Powell), I would consider safety stops mandatory.
The safety stop is recommended, I believe, to save those (pre)disposed to DCS in general or on a particular day. Some are genetically more predisposed to it than others.
Also, each person can have their risk of DCS change daily. You could be less hydrated, have less sleep, or anything else. Although most people would be safe most of the time ascending straight up at less than 30 ft/min, some might be disposed that day to DCS and could take an "undeserved hit". You don't know if you're more predisposed in general or might be on that particular day.
There is no real "science" to DCS yet since we don't fully understand it. Almost all the procedures and recommendations come from statistical probability based on empirical data (by seeing when people get bent and when they don't).
The above linked book is a great resource for any diver wanting to understand more about the physical effects of diving on your body and it's written in non-scientific easy to understand concepts. It also goes through the entire 350 year history of how we got to our current understanding (which isn't much).
Keep in mind, that even going a few feet down and coming up is a "decompression dive".
I always go to half my depth for 1 minute then go up 10 feet every minute from there.