I've used both jQuery and Prototype/Scriptaculous with Struts 2 and have found both very capable and effective. Any of the other JavaScript libraries are likely to be similarly capable and effective, although some have a steeper learning curve than others. For example, YUI and Dojo are *complete* JavaScript frameworks, and in my opinion take longer to use effectively.
That said, using jQuery or Prototype still require a certain level of JavaScript programming skills.
There is no universal "best"--just like Bear said, "best" is subjective, and depends on many factors.
They serve two very different purposes. Dojo is a complete JavaScript client-side framework. IMO it has a fairly steep learning curve, is very functional, and due to non-technical reasons did not become one of the dominant players in the JavaScript framework arena.
DWR began as a way to mask the differences between server-side Java and client-slide JavaScript (and that's all I've used it for, so you should read up on it). It makes client-side JavaScript Ajax calls look like calls to native Java objects. It's pretty cool, and I've used it very effectively in that role.
None of these are Struts questions, however. If you have further questions regarding non-Struts, client-side frameworks you should ask them in the appropriate forum.
I agree. Here's the link: http://ej-technologies/jprofiler - if it wasn't for jprofiler, we would need to
run our stuff on 16 servers instead of 3.