In his guidebook, RS says to consider using Haarlem as a home base for Amsterdam, and now I know why!
We just spent 4 days in Amsterdam, and took a day trip to Haarlem. I was really surprised at how congested Amsterdam is. (And I'm saying this as someone who has enjoyed 7 days in Rome.) I'm not sure why, but Amsterdam was very taxing--maybe it was the cars AND the trams AND the bikes...
We booked 4 nights in an apartment in the n'hood called De Pijp, but had to leave after only 2 nights. It was a very vibrant area, full of cafes and people. The street market was wonderful. The n'hood is definitely less touristy, but also more gritty than some areas. Soon after arriving, we saw a very large rat in the courtyard. Then, on the second day, a mouse in the bathroom. It was not the fault of the apartment owner, really. I just wonder if that area of the city is still a bit...rough around the edges? I never worried for my personal safety. But the wildlife was just a bit too much.
Even without that small glitch, I would stay in Haarlem next time. The public transportation is so easy that traveling into the city from Haarlem is almost as quick as using the local tram to get around Amsterdam. And in Haarlem, you have more elbow room and a more relaxed pace. Next time I visit, I will definitely use Haarlem as my home base. Transportation to the airport is easy, too.