Though it is nearly 8 weeks late, if you need only about 4 digits of accuracy, you could use tan^{-1}\approx \frac{x(240+115x^{2})}{240+195x^{2}+17x^{4}}, x\in [-1,1] and for x outside that range, use the identity tan^{-1}(x)=\frac{\pi}{2}-tan^{-1}(\frac{1}{x}). It might be a pain by hand, but it is doable.
Using Chebyshev polynomials or Taylor Series will take you a looong time :P
So, as an example, take x=.1
tan^{-1}(.1)\approx \frac{.1(240+115*.01)}{240+195*.01+17*.0001}
= \frac{.1(241.15)}{241.9517}
= \frac{24.115}{241.9517}
\approx .0996686529
Compare to my calculator which returns .0996686525 ;)
See
this post for the derivation of that formula.
For arccos, you can use the identity:
cos^{-1}(x)=2tan^{-1}\left(\sqrt{\frac{1-x}{1+x}}\right), x\in (-1,1]
To compute square roots by hand, there are a number of methods, but the method I am most familiar with is in binary, so I don't know how useful that will be :/ (Note that the square root will be squared in two places plugging it into the arctangent approximation, so you don't technically need to compute the square root, there.)