On the contrary I find qooxdoo syntax and code organization very clear. It is much like swing or gtk. I have tried Dojo as well, without much success. My no.1 choice for RIAs is qooxdoo. It is rich, coder-friendly, free and well documented.
My choice for any other (browser based) JavaScript work is jQuery. Although other libraries (prototype, mochikit etc) are all useful, jQuery is the hype now. Having an active (and big) community counts.