The only thing that really worked for me was to get us all up earlier. That is probably not the answer you want to hear, but it has made life so much nicer in the mornings. Don't try to multitask, give yourself more time, and then you can take your time.
I am trying to get me to work, 1 child to the bus, (age 7), and 1 child to preschool (age 3) by 7:30 - darling dad leaves at 6am. I really prefer to stand over my daughters and coax them, rather than to scream from another room and repeat my self. I would take 15 minutes of sitting with them while they get dressed over 30 minutes of yelling at them and hoping they come downstairs in the right clothes and ready to go.
My schedule is
6:00 Mom showers
6:20 Start breakfast/set table, Mom gets a nibble of something
6:30 Wake kids - supervise older and dress younger
6:50 Kids eat, Mom makes lunch
7:00 Mom gets dressed, etc.
7:15 Send kids to brush teeth and put on shoes
7:25 Walk to bus
7:35 In car to preschool
And if I get up before 6:00 I get a few uninterrupted minutes to check e-,ail or watch the news :)
It's tight, but it works.write down your schedule and figure out where you could use more time, and get up that much earlier.
It helps to have clothes laid out the night before, let the kids set the table, and have my older daughter pack her lunch the night before. But that doesn't always happen.