I have watched a few kids like this. It isn't easy. You have to be very firm. And when you say something, you have to show you mean it. If you tell her to not touch something, stay there and make sure she doesn't touch it. For as long as it takes. Some people say to distract or redirect a toddler from what they're doing. I do the opposite. Let's say she's about to knock over a lamp. I would sit there and tell her, VERY FIRMLY, NO! DO NOT TOUCH!. Then wait for her little hand to start moving towards the lamp, stop it, hold it in your hand, look in her eyes and say NO again. Let go of her hand, wait to see if she tries again, repeat as many times as necessary. If she throws herself on the ground or cries, then she probaly got it. BUT if you walk away then she may still get up and try again. You have to be willing to wait it out, watch her like a hawk to make sure she listens. You probably won't get much else done while you're really working on this. But it won't last forever. She will eventually learn that Mommy means it when she says NO.
Since she is such a physical kid, I would hold her physically when you need to control her. It's hard, but I would give her a big bear hug when she's out of control. She will try to head-butt you and fight like heck, but that might be what she needs. They usually will thrash for a minute, then relax into the hug. This is what you do with special needs kids, but it works for average kids too. She might need that physical release.
Another thing I did with my son, and a few other kids that were super-difficult, when I told them to do something, like pick up toys, I made them listen. I would actually hold my son's hand in my hand and use his hand to pick up each toy and put it away. I only had to do that a handful of times with DS, then he realized he actually did have to do what I said.
Ok, I sound like a Super-***ch, not a super-nanny here. But I really believe that even the littlest kids can be disciplined.
I also believe that your home should be a peaceful, loving place and not controlled by naughty toddlers.
My kids are 11 & 8 now and haven't been any kind of discipline problem since they were like 3. I also run a daycare in my home and I almost never put a child in time out. I just don't need to. They know they have to listen to me. I reserve time out for offenses againt another child. Like biting, hitting, etc.
Ok, I rambled a little, sorry! GOOD LUCK!