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Otherwise yes, a sword is better as it's faster, longer and has more attacking options (thrust/stab).
Mace is good vs armor.
Axe is the in between.
Are they really that effective in mid-to-late against shields? They were, somewhat, for certain units in Warband, but in the end those were always going to be for "siege troops" and their needs, not necessarily for front-line field-battle troops.
Tips? Particular axes that seem really effective across the board?
As for best axe, I always found high weight+damage with a small focus on speed to be the best, even it ends up being really short because that can really help in moshpit fights and sieges.
They need to take into consideration weight of stagger to the hits.
So for instance a sword swings faster on all counts than a axe, but has the least amount of weight other than the dagger, which means enemies recovers quicker after taking a hit (armor involved or not).
Axes are hefty and they are going to be staggered much longer if they take a hit, with or without armor.
Maces are the best at staggering, another level up higher than axes.
Spears has stagger based on the speed bonus of the attack, rather than the weight of the weapon alone, this means it's more effective on calvary or against calvary.
Basically you can knock down targets if stagger reaches a certain threshold, this is especially true for heavy 2handed weapons.
This requires damage values to be tweaked so 2handers don't one shot kill often, but knocks down and knocks back targets, whether they are guarding or not.
From some quick testing in MP siege the other day, I want to say that yes, they do make a difference.
Yes they do bonus damage to structures as well. At least I know for sure they do in multiplayer, wouldn't think it's different in singleplayer.
Personally, if you don't want that, I'd take a sword since you have a larger area to strike with (not just reach typically, but the blade versus the axe head also), so it's more forgiving to use.
For the damages on shields, you won't hit shields much if you play a lord on cav, but in sieges you might consider it. But pretty sure each time you tried breaking shields, you were a few hits away from destroying them.
Axes shine on AI units & in multiplayer tho
I believe multiplayer has tweaked how shield HP and damage works, because of how turtley they can be, not 100% but it feels like shields break way faster in MP than SP.