Some linguistics argue that English has NO future tense. But in the order you have:
1. I dance tomorrow. - a statement of intention or "fact." So yeah, okay, pretty strong. But no plans are unalterable. :) Also, it is not the most common way to talk about the future (for instance, we do not say "It rains tomorrow").
2. I'll dance tomorrow - yeah, this can either be strong or weak. But see below.
3. I'm dancing tomorrow - I don't see this as any less certain as #1
4. I'm going to (gonna) dance tomorrow - see #3
Nevertheless, the common marker for future tense in English is 'll (or will).
Without the adverb "tomorrow," #2 is the only sentence that indicates some time in the future. Numbers 1 and 3 refer to the present (I dance. I'm dancing.), while #4 can mean the future as now: I'm gonna dance right now).
So, #1 may seem the strongest, but we do not usually refer to the future that way. #2 is the "normal" way to mark the future (with 'll used most often in speech, will, in written English). #3 is normally the way to say what you are doing right now in the present: Q: Watcha doing? Answer: Reading. (So-called simple present refers to a habitual action: I read every afternoon.)
Let's put it this way: if someone asks me, When are you gonna dance?
I am most likely to say.
1. tomorrow
2. I'm gonna dance tomorrow.
So, I'm dancing tomorrow AND I dance tomorrow, seem to be reserved for special emphasis or for clarification.
If someone asks me: When'll you dance?
I am may or may not use the same 'll (will) future marker when I answer:
1. tomorrow
2. I'll dance tomorrow/I'm gonna dance tomorrow./I'm dancing tomorrow.
But, I dance tomorrow ==> would be rare to answer in this fashion. usually only to clarify -when-.
Now -when- are you gonna dance?
Are you deaf? I dance tomorrow.