I'm going to second the epilator recommendation. I use it on my legs, chest, arms, and pits, usually touching up a little once a week. If I want to have an area completely smooth for an outfit, I clean up with a razor. It's way faster than anytime I shaved with the razor alone and none of that pesky stubble grows immediately in.
And yeah, an epilator hurts. Mostly the first time you do it because it's when your hair is the most dense (unless you've waxed in the past and then, you probably know what to expect for pain anyway).