Gee, you don't want much, do you?
I used an acetalyne torch to heat up the stuff and a large scraper to scrape it off.
It might be worth trying to find someone with a lift or a pit to work on/over.
The real pain will be prepping the underside for primer/paint. The correct (if that matters to you) underside treatment is to prime with a grayish primer (some magazines have published the color code). There will be some overspray of body color on the underside near the sides of the car. Prepping, at a minimum, involves scuffing with scotchbrite or 180 grit and wiping down the surface with wax remover. If you don't prep properly, whatever you spray on (except more undercoating) is just going to peel off in short time.
I just thought of a rig that attached to your wheel hubs that allows you to tilt the car over. That might be a solution to your situation. Off course, it might be cheaper to pick up 2-post lift.
Just some thoughts....