I've been making small parts and the support structures require a lot of force to take them out - how can I make it so that they come off easier, and how do I remove the supports from already printed objects without damaging the print?
Tools to remove support can include needle nose pliers, side cutters, exacto knife (you can heat the tip if needed to help cut through support).
That being said, if you go to support and make "Horizontal offset from part" larger (I currently use .3mm) then it won't stick to the model as bad. This is the distance of space between the top the of the support and the bottom of the model. When there is a bigger gap that means the support is cool when the next layer prints on top of it and thus won't stick as well. The trade off is that the underside looks a little sloppier and so you need to decide a value that works for you.
I would also suggest scalpel blades instead of X-acto knife blades. No 11 and No 23 blades work for most situations, but if you go on Amazon you can see a ton of options. 2 weeks ago I picked up a box of 100 blades for $9 and it came with a free blade holder.
Scalpel blades are MUCH sharper than X-acto blades. I'm a physician in my "real job" so I occasionally use them at work, which is why I thought of it. The blades are higher quality surgical steel (even the super cheap ones), but they are thinner blades. For cleaning up prints, that turns out to be an advantage most of the time (IMHO). In my usage, they slice through PLA (haven't tried ABS yet) print-globs, strings, support with ease. With a magnifying glass, you can literally get it between layers if you need to.
As soon as it starts getting dull, chunk it and put a new one on.
Scalpel blades are MUCH sharper than X-acto blades.
....and find their way into fingers very, very easily!
A H&S tip.....never use a blade on its own for cutting, separating rafts, or for any use that involves even the slightest force! Always put them in a scalpel handle. And its more than ever a good reason to always cut away from yourself! If the blade slips, it shouldn't do any damage.
I have cut my hands so many times cleaning my parts I've lost count. Because of it, I try very hard to not use a blade of any kind to clean. For the sake of my hands, I try to use dissolvable filament when possible.