I know what youu mean about fears/rituals interfering with your goals. Are you seeing a therapist. As far as meds and OCD goes they have really helped lessen my urges and take the edge off anxiety, however, the only way I've been able to overcome any of my rituals is through a mix of meds and therapy. Sometimes it will take months of persistent work to be able to overcome just one ritual.
With the dusting you might try to wipe it with one cloth and when you feel like you need to switch cloths go one or two inches further. Keep trying for the same amount that you were uncomfortable with until you feel fine with it. Then repeat the process of going a little further. This will be a slow process, but I've found it helps. It took me months before I could get myself to climb a certain set of stairs but eventually this technique allowed me too. I also had therapy every week to discuss what was going on and to get ecouragement. It's important you don't try to get through this alone and since these "irrational" fears/rituals are often hard to discuss with others I found it easier to talk to my T about it than my family and friends.

I hope this helps some. We may never be able to accomplish all our dreams (even one's that seem possible for 'normal' people), but don't give up hope. Take it one dream at a time.