How to use different menus for members and none members

I am using the membership plugin.

What I would like to do is have different nav bars on top.

Like for instance, for regular visitors, have the regular nav bar...home, blog, contact etc....

But for a member on a level, i would like to have another different nav bar, that matches up to a custom menu on the side...

For instance,
Welcome, Downloads, Account, logout...etc

Or somethign to that effect, but i would like to have a different top nav bar for a particular member to see...