It's-our-family...... have you considered that your child may have sensory integration dysfunction? I'm not saying he does, but some things you said made me wonder...
Both my children have it (my ds more so than my dd) and our ds's sound soooo alike. I am not one for just putting labels on children, but once I knew that this wasn't all my imagination, that my ds was just not simply "being difficult" on purpose and that it had a physiological / neuroligical reason behind it all, it was so much easier to bear. It also gave me some much-needed tools with which to help him respond to his world in a way that brought joy back into both our lives. It all started when I read "The Out-of-Sync Child" and my eyes nearly popped out of my head; my child was both hyper- and hypo sensitive (many kids are both with usually a slant to one or the other) and it was so reassuring to hear that there are other children out there with families who are going through similar stuff.
We are a homeschooling family, but we contacted our local school as we were eligible for a free evaluation and services through a local occupational therapy / early childhood intervention agency (according to state law). You may very well have something similar in your state - your local school's special-ed teacher is a good starting point.
There are a myriad of things that can be done to help these little spitfires calm down: from therapeutic listening therapy (special headphones and music) to movement exercises, etc. - a bunch of which can be done at home in a fun, relaxed way by you or another family member.