One time, I was making my way past another woman, I don't remember where or why, but I do remember that it was crowded, and I also remember walking away feeling as if I had scraped my arm against sandpaper! What the heck?? I was confused for a second, but then quickly came to the conclusion that the woman had shaved her arms, and some stubble had grown back.
This is the reason why I always insist that people not shave their arms. It's an unpleasant feeling, and oftentimes, you can tell just by looking that people shave their arms. Hair grows back, and especially after you have shaven it, the ends of the hairs are very sharp. Sharp and short is a bad combination for your arm hairs.
People's hairs grow back at different rates, too. I once had a friend who showed me the stubble on her legs during a class in high school. She said, "I shaved an hour ago, and look at my legs now." I looked down, and to my horror, I saw that all over her legs there had already grown long, dark stubble.
Maybe it is this way for you, and maybe not. And even though you might be thinking, 'But Geneys, people don't touch my legs!' I would argue that it is worse for arms because for certain, people will touch your arms. Many people, when communicating with others face to face, are 'touchy,' and this makes your arms a prime target. If they touch or feel your arms, then they could be in for a nasty surprise. I just wouldn't risk having a situation such as this. I can imagine that it would be very embarrassing.
So why not just let your arm hairs grow out? From my experience, touching someone's arm and finding that it is a little hairy is less of a shock than finding out someone's arm feels like a cactus. And I have not seen anyone's arms to be this way, but if your arms are like Sasquatch (with long, dark hair that drapes off your arms), then I would suggest a depilatory cream. The hair would grow back with softer ends, and so if you do have any stubble, it won't be so sharp that it stabs other people's hands.
Personally, I will admit that I do not have very hairy arms, I think this is something I can be thankful for from my dad, the hairless-ness. (Actually, if you look closely at the picture below, you could probably spot a couple). But I can still speak from my experiences: I would much rather touch your arm if you had a little hair, than to be grossed out by the fact that I have scraped against your stubble. So if you can help it, just let it grow. Everyone knows arms have hair.