Pain killer or anti-inflammatory for arthritic dog?

We have an older dog who has trouble with arthritis. I would like to know what experiences you have had with your dog and what medications worked? YES, I have a vet, and YES, I have taken the dog there and talked to the vet. So, I DON'T need any lectures on how I need to talk to the vet about this. I am a responsible pet owner who takes care of my pets. I simply want to find out what might have worked for your own dog. If you don't own a dog and have not tried any medications such as this, then don't comment. We have used Prednisone, which worked well as an anti-inflammatory, but it also causes urinary accidents, so that is not a great side effect for her. What medication worked to relieve the stiffness or pain for better comfort? We have also used glucosamine. PLEASE, no rude comments, nor how I can put the dog to sleep. If you comment on a medication, please let me know what it was, how long it took to help, and what side effects you might have noticed with your own pet.