You shouldn't have to scrub to remove mascara, for waterproof and difficult to remove mascara I use cleansing oil (Shu Uemura makes a good one) or a bi-phase remover like Lancome Bi-Facil Double Action Makeup Remover. With either, just wet a cotton pad or ball, hold against lid for a short time to soften the mascara and other makeup, then just swipe it away.
Hope this helps!
I really like the Sephora Collection makeup wipes. They do an excellent job of removing makeup, I love that they allow you to really get into the corners of your eyes and lashes.
Hi! I second the recommendation for the Lancome Bi-Facil Makeup Remover. I wear waterproof mascara, and this remover literally dissolves the makeup. No scrubbing necessary: