As a veterinarian with over a decade of experience, I find that examining my patients on the floor is the quickest way to put them at ease. The examination table is often cold and too high off the ground for some pets. I have always examined all of my patients on the floor with the owners sitting next to us. Also, consider bringing in a towel that smells like home. Pets are very olfactory centered so familiar smells can help them relax. Just realize your towel could get soiled, especially if your pet is sick.