It's just normal aches and pains, Tylenol is the only thing that will take the edge off unfortunately. It's your body preparing for labor :) it's quite uncomfortable I know! It will be over soon!
I'm 29 weeks and feel exactly the same. I read somewhere that if you're having back pain the best immediate relief is to get down on all fours and just very gently stretch and rock backwards and forwards. Works for me. I also have a friend who is a midwife and she said when you get out of bed in the morning, roll onto your side and swing your legs over the edge closed, as if your getting out of a car and don't want to show your underwear that helps get rid of hip pain.
I'm with ya. I'm 33 weeks and my body feels like an 80 year old now. Especially my back and knees. What I do is drink tons of water, take a calcium tablet if my food isn't giving enough, take a bath with a little Epsom salt before bed every night, and sleep with pillows in between my legs and behind my back and under my stomach. Body pillows or pregnancy pillows are seriously a life saver.