Two critical approaches have emerged in the literature for the successful realization of 6G wireless networks: the coexistence of multiple waveforms and the adoption of non-orthogonal multiple access. These strategies hold transformative potential for addressing the limitations of current systems and enabling the robust and scalable design of next-generation wireless networks. This paper presents a novel rate splitting multiple access (RSMA) framework that leverages the coexistence of affine frequency division multiplexing (AFDM) and orthogonal frequency division multiplexing (OFDM). By transmitting common data via AFDM at higher power in the affine domain and private data via OFDM at lower power in the frequency domain, the proposed framework eliminates the reliance on successive interference cancellation (SIC), significantly simplifying receiver design. Furthermore, two data mapping approaches are proposed: a clean pilot method, where pilots are allocated without any data overlapping, ensuring clear separation, and an embedded pilot method, where pilots overlap with data for more efficient resource utilization. Channel estimation is then performed for different channel types. Simulation results demonstrate the robustness and efficiency of the proposed approach, achieving superior performance in efficiency, reliability, and adaptability under diverse channel conditions. This framework transforms non-orthogonal multi-access design, paving the way for scalable and efficient solutions in 6G networks.