I read the article Mop posted about theories and how to properly work your back (the one in the sticky,) legs and abs and since I've tried those techniques I really feel better when I do those exercises. Before, I was straining my joints and not using my core to balance myself and now I do, and I don't mind doing the exercises so much because they don't hurt lol.
also, the ab dvd I got helps strengthen my back and abs at the same time, which is awesome. They teach you to inhale and really make the stomach concave as much as possible, and then using the muscles to lift yourself. I always had the breathing technique correct, but didn't really ever pull those muscles in before contracting.
If anyone hates abs, and I do, oh god I do, hope this helps you find them easier to do.