For us, because I’m rather too large to be on top comfortably for any length of time, the best position for clitoral stimulation is the spoon position: I lay on my side (left is most comfortable for us), hubby lays on his left side behind me and enters me from behind. This way, I can stimulate myself, or he can reach around. It’s all good. Also, wisernow, don’t assume that it’s all about the orgasm for her. Sex without orgasm can be very enjoyable, too; something that a lot of men seem to have trouble understanding. 
I read about this techinique in a book - it works for the woman. I’m guessing it doesn’t feel so hot for the man, because it hasn’t caught on.
Get in Missionary style except the man’s legs are outside the woman’s. Have man scoot up about 1-2 inches. Voila
I’d somehow always imagined that a man with a name like yours would get straight down to business, no wrist joint involved.
Simultanious orgasms seem like a lot of work for one of the partners and pressure to perform on the other. In 5 years, we’ve only acheived this a few times and being so bound up in my own experience, I miss watching his and I like watching his. (I did that?) Still, one orgasm can lead to another in some females, so do whatever makes her happiest first and then woman-on-top, leaning foward for more direct stimulation for her.
Have you tried foreplay (particularly oral sex) to nearly the point of her having an orgasm, then doing intercourse? My g/f can orgasm from oral sex but not from just intercourse; however lately I have been kind of ‘experimenting’, by spending a lot of time going down on her and when she’s all hot and bothered getting to the intercourse part. So far she’s been very close to having one; I’m confident that if I last a little longer/find a better position she’ll come for sure.
I myself wasn’t able to orgasm from just intercourse either at first. What I found was that if I used more effective and/or conventional methods of stimulation, I could get myself to the point where a stiff breeze could give me an orgasm. I was able to ‘condition’ myself to start enjoying the intercourse more and more, and I’m at the point now where I don’t need any preparation involved.
As others have said, it isn’t always about the big O. If your SO enjoys sex wtihout always having an orgasm, don’t feel guilty.