Yes. Swipe is an instant attack, just like Mangle and does not affect your Maul in any way shape or form. Your Maul simply goes off whenever you next auto attack hits. As Astarin said, sometimes it just happens while you are swiping or Mangling and seems like it didn't do anything, but if you check your logs or even watch your threat generation on Omen, you'll see the additional jump in threat as the Maul lands.
Note: You'll also notice your rage not jump as an auto attack would make it because Maul does not generate rage, it only spends it. That's why you wanna be over 50 rage when using maul when at all possible because you lose that auto attack worth of rage generation.
Hopefully this clarifies it completely for you.