We found plenty to do in a week, but our kids are pretty decent hikers. Our kids were ages 8 and 10 when we were there. Here are the non-hiking things we all enjoyed:
Fishing trip was a highlight.
https://acadianboattours.com/activities/fishing-trips/
Biking the carriage roads. We rented bikes and a bike rack from a place in Bar Harbor. We did this one day but would have been happy to do it on 2 separate days, exploring a different area on the second day.
Pirate's Cove mini golf with ice cream across the street. This was the nicest mini golf course I've ever seen.
Diver's Ed. This is best for younger kids though, but it is very well done. The little museum at the pick-up and drop-off spot was a pleasant surprise.
Beal's Lobster Pound.
Low tide walk to Bar Island, followed by ice cream in Bar Harbor.
Sand Beach. The water was too cold for an extended stay, but we spent a lot of time on the beach and climbing over rocks, enjoying the view.
The rock climbing at Otter Cliff looked very good. I wish that we had done that.