Tapalpa is about 2 hours from Guadalajara, or a little less if you're lucky. Here's the bright and chipper page about it from the Mexico Tourism Board. And another website in Spanish. And an article on Tapalpa for the bazillion retired expats here. Here is a blog with two posts about hiking to waterfalls in Tapalpa. Search for Tapalpa on this blog to find more about staying there with children.
There are supposed to be amazing wildflowers here in the fall and the drive there is beautiful. You can buy lots of canned fruit and jam which makes any trip worth it. The elevation is fairly high so it's cooler there than in Guadalajara. There are some ziplines. Here is a hike there. You can mountain bike. You can work on an organic farm.