Trouble is, there are several "flavours" of both Firewire and USB so you have to be careful what you're comparing.
Firewire 400 (IEEE 1394a) has a theoretical throughput of 400mbps; Firewire 800 (IEEE 1394b) has a theoretical throughput of 800mbps. Because Firewire is a peer to peer architecture, it's generally good about achieving its theoretical maximum on sustained throughput.
USB2 "High Speed" has a theoretical maximum of 480kbps but, because it uses a master/slave architecture, has trouble sustaining this speed on sustained throughput.
The other thing about USB is that it's a shared bus so if, for example, you have both a USB sound card and a USB HDD, these have to share the 480mbps maximum. Add a USB mouse and that's sharing too--and so on.
However, theoretical maxima are just that--really it's a case of "suck it and see". In my home studio I have a Firewire audio interface and a USB2 HDD and they seem to play nicely together for the sort of things I do. That's all that really matters!
Bob