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Well, since both are implementations of the Modelica standard I would guess they are pretty much the same, though I do not know MapleSim or your problems with it.

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It was extremely difficult to model two interacting surfaces -- for example, a wheel rolling on a surface with friction.

Well, not my area, but a little googling brought up this: http://www.inf.ethz.ch/personal/cellier/MS/andres_ms.pdf (well, there goes my evening). I don't know, but I find the decomposition quite intuitive.

MapleSim only implements a subset of the Modelica standard.

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