Def find a pediatric dentist. I took my almost 3-year-old to a pediatric dentist (dreading it, mind you, but trying not to show him that I was dreading it) and it went way better than I thought it would. The first visit was just to show him the cool things in the office - the chair that turns into a bed, the magic straw (water sucker-thingy), the water squirter, and the tickler (the spinning teeth-cleaing gadget). They let my son hold and try all the instruments himself, and he let them "tickle" his hand and even his lip. I was stunned. The dentist came in to introduce himself and asked if he could see inside kiddo's mouth to count his teeth. My son gave him a 1/2 second peep and that was it, but that was OK with the dentist on this first visit. They were more concerned with building trust than doing any dental work.
The second visit (last month, and kiddo turned three last fall) was scheduled to be a cleaning, but kiddo was not in the mood to even sit in the chair and watch the DVD that was playing above the chair. So it was more notes in the file for the dental hygenist and the dentist came in again to say hi and try to take a peek. Kiddo's teeth have plague building up, which makes me twitch, but the dentist is unconcerned at this point. Another visit scheduled for six months and I'm supposed to try to get him to attempt flossing the front few teeth with those little plastic single-use flossing gadgets. Good luck to me! The dentist suggested letting him play with on in the bathtub or practice licking it to get started.
Our ped dentist does offer sedation, if necessary, and a "blanket" - restraints. Parent's choice. Dentist said that if kiddo doesn't feel comfortable enough to have his teeth cleaned by the time he's, say, 5 - then we'll have to consider our options for getting those teeth cleaned. light sedative, if necessary - which I would chose in a heartbeat over tying him down.
Anyway - find a ped dentist and let them know your concerns. Your kid is certainly not the first one to create a scene in a doctors office. No worries!