I've always used a doggie nail clipper that has a guard on it, and just take the tips off to avoid the quick. It usually means having to trim more often, but my dog also gets a lot of exercise on hard surfaces which seems to wear her nails down a bit. I've never met a dog who LIKES his nails clipped (my mom's dog cries like you are beating her!) but in my (limited) experience they tolerate it.