To simplify it...
Imagine a rod inside a tube. The rod has its own rotor attached to its top. The tube has its own rotor attached somewhere on its length. A common engine, with some creative differential gearing, will turn both rod and tube but in opposite direction. The complexity begins where we have to stabilize both spinning items to be in sync with each other, mainly so that they do not collide and result in a catastrophic event.
The main reason why coaxial designs are not popular with helo manufacturers is not because of the mechanical complexity, which is considerable but certainly DOES NOT prevent field operation and maintenance, but because of the unfortunate side effect of unwanted downwash from the top rotor onto the lower rotor, creating a potential for uncontrollable vortexes that can send the aircraft out of control. That potential increases in dynamic environmental and atmospheric conditions, fancy phrasing for a windy day.