I also trim paw pads whenever they need it...the hair grows fast enough that I could trim once a week, but usually it is every 2-3 weeks before the pads lose grip on my smooth floors. I have trimmed with small, sharp-cutting scissors, but normally I trim with an Oster Finisher trimmer, and I have some small cordless Wahl trimmers, too...one is rechargeable with a swivel head, and one is really tiny...pocket/palm-sized...and quiet.
It is not just Yorkies, though...I puppy sat my friend's Shih Tzu a week ago, and her pad hair growth was so much her pads were completely covered...all 3 got a paw pad trim so they could get some traction action for their rough-house play time!