Am I supposed to feel this way about chores?

Okay, I've been doing household chores for years now. My chores include vacuuming the stairs and carpets, cleaning the bathroom (including the toilet and bathtub), mopping the floors, sweeping the floors, hanging half the laundry, cleaning the dishes and the sink, and taking out the trash.

Now I don't like doing chores (but seriously, who does?), and I've been tolerant of the amount given to me. But it's not really the chores that bother me I think, it's my mom. My mom is a very hardworking but aggressive woman with a short temper. The usual thing in my house is that if my mom tells me to do something, I either do it or get my ear yelled off. So for years I just do as I'm told since it's the easiest way to avoid conflict. One of the worst problems I have is when I don't do a chore fast enough, my mom does it then rants on and on about how she's a servant for having to do the chore for me. I obviously get annoyed by this but I ignore it since it happens at least 10 times a year.

But today I just snapped. My mom caught my grandmother, who lives with us, taking her laundry to the drying machine. It was a normal routine thing. But my mom decided that she wanted to save power and told my grandmother that she would hang the clothes for her in the laundry room. During this time I was minding my own business, reading fiction on the internet, before my mom calls me down. I go down, passing my grandmother down the stairs, and see my mom standing beside my grandmother's wet pile of laundry. My mom then proceeds to tell me to hang my grandmother's laundry before just leaving me there to do the work.

Now, I've been pretty tolerant of the various chores and commands my mom gives me, such as making smoothies for her when she doesn't want to get up, getting her various items from around the house when she's too lazy to do it herself, helping my mom work her computer when she doesn't want to take the time to figure it out herself, tending to her garden in the fall when her plants are dying and need to be cut down, and whatever else she can think of. My mom then proceeds to call me useless when I can't do a job she assigns me to do.

Am I being taken advantage of in my own house? Or is it this way in every household?