Snap-On part #S9613 http://buy1.snapon.com/catalog/item.asp?search=true&item_ID=12144&PartNo=s9613&group_id=1630&supersede=&store=snapon-store&tool=all
There is no better way to do it and no real substitute. You MIGHT be able to get the old ones out with a hammer and screwdriver just slowly and gently knocking it so it will turn in the hole but you could NEVER get it adjusted the right amount to reinstall the joint without this tool. I have broken 3 of these things over the years getting it torqued right.
Don't get the cheap(er) "Improved" joints. They have a plastic liner to make them move easier. This wears out quickly (a year or two with 35's). The heavy duty units are twice the price but last 4 times as long. BTDT