Here are the rules to redirect a www URL to no-www:
#########################
# redirect www to no-www
#########################
RewriteCond %{HTTP_HOST} ^www\.(.+) [NC]
RewriteRule ^(.*) http://%1/$1 [R=301,NE,L]
Here are the rules to redirect a no-www URL to www:
#########################
# redirect no-www to www
#########################
RewriteCond %{HTTP_HOST} ^(?!www\.)(.+) [NC]
RewriteRule ^(.*) http://www.%1/$1 [R=301,NE,L]
Note that I used NE
flag to prevent apache from escaping the query string. Without this flag, apache will change the requested URL http://www.example.com/?foo%20bar
to http://www.example.com/?foo%2250bar