Alternative Top Menu bar for logged in users only via their Role
When you create a menu, a block should be created at the same time (https://drupal.org/taxonomy/term/32478). Go to Admin, Structures, Blocks and place one of those menus in the area you want it to appear - under Role restriction at the bottom of the block configuration, you can decide who has access to that specific menu. Repeat for each menu - this way, the menu appears in the same spot, but a different menu will appear for different roles.