N., I understand what you are going through, I am a single mom of two and it is a struggle some days!
I have two kids, 5 and 2(almost 3). For my 2 year old, I have her do things like feed the cat, fill the water, take her dishes to the sink. She is also my laundry "pusher" and pushes the wet stuff into the dryer for me. She also helps me put clothes in the washer and will "clean the kitchen sinks" for me (I fill it up and she plays in them with a spot of soap. I will give her a couple clean dishes to make cleaner too). She also has to brush her teeth every night and get dressed. At that age, they just don't have the focus to do major chores, no matter how bright. For my daughter, if she gets side tracked or looses focus, I will ask her again, then when or if she says "no", I'll tell her, "okay, I'll do it, it's my turn" and the natural competitor in her comes out and she rushes to do it "before me". On days when she doesn't really want to do anything, I just leave it alone. I think yelling at her to get her to do a "big kid" job is just going to put her down more than anything.
Now, with my son (just turned 5), he also takes his dishes to the sink, and helps out around the house. I have him sweep the kitchen (I'm not expecting perfection mind you, or it would never get clean)and occassionaly mop. He also is big enough and strong enough to take the trash bins to the curb by himself (he loves it)and helps me sort the recycling and helps with yard work and other "manly" things. He also loads and unloads the dishwasher for me too. He also takes care of his grooming needs. With him, I am a bit more stern as far as following through on a task, but he is old enough to stay focused. If he doesn't do something I ask, I ask him again and then give a time out. If he fights the time out, it gets increasingly longer (by one minute increments).
As far as a morning routine goes. I got a closet organizer (from Lillian Vernon Kids) and I put all their clothes for the week in there. There are no arguements about what they wear, it's grab it and go!! I also bought a weekly chart (at the Teachers store) and had it laminated (we can use dry erase or washable crayons on it). On it we put down what they want for breakfast, snack (school) and lunch and any activities or appointments we have that day for each day. You would be suprised at how well that eases the tensions. "Oh, you don't want waffles, well that is what you picked, guess what you picked for tomorrow". And, since they picked it, it gives them a sense of control over their day.
It's easy to get frustrated. My son is so mature for his age, and acts much older than he is, but at times, he's just his age and I need to get used to that. I don't like it, but they are still little. hope that helps.