I've worn a vibrating plug or dildo while cleaning, and I don't let myself cum until the whole job is done. I've also done that with vibrating ben-wa balls for an excersise program a few years back when I needed to drop some pounds, and it was a very successful motivator.

You could also try holding a dildo in the butt and straining to get all the work done quickly without letting it fall out, then reward yourself with a hearty cum when it's all done. You could hang weights off of your tender, sensitive areas with clothespins that have a nice, hard bite, and take away a weight for every task completed (or add one if you enjoy pain).

You could tie yourself tightly so that your shoulders are pulled painfully back and down (or elbows touching, if you really want it rough), and complete the chores while struggling against the bondage. You could create a tight crotch or cbt tie, so every move you make is both arousing and slightly painful, or do the chores while wearing a clit or penis pump, with added nipple pumps for interest.

What about a chastity belt with a vibrating, inflatable butt plug that is inflated just to the threshold of pain/pleasure? An extremely tight corset to make you bend properly and gasp for air if you exert yourself? Do all the chores naked, or in humiliating costume? Do everything with your jaw stretched around a penis gag that fills you to your throat?

Finish cleaning wearing a 2-3 foot spreader bar on your ankles so your crotch is tickled by the breeze and open for everyone to admire? How about as you clean, stop every 15-30 minutes or so and masturbate just to the very edge of cumming without going over, then continue to clean. Your orgasm will steadily build, and you will be eager to finish the chores so you can finally release your orgasm.

Do you have a special friend who can come over and administer a firm flogging (maybe to all of your sensitive areas while wearing the spreader bar) while you do the chores, and not stop unil you're finished? You could also try figging (carve a small plug out of a finger of ginger- do a search on "figging" and you'll find more info); the burn will steadily grow more intense until you are done with the chores- but wait! You are not allowed to take it out and relieve yourself of the burning until you have cum! Ohh, the agony and pleasure! Anyway, now that I'm having too much fun with all this, I hope you have some uhh, motivating ideas!

-Phan, panting