Examples of "dirty work": burping a colostomy bag, irrigating a bladder, cleansing infected, foul-odored wounds, powdered infected skin folds, performed peri care, held back a foreskin while a nurse inserted a Foley, inserted Foleys, performed cervical checks, wrapped an edematous scrotum in a pillowcase, caring for a penis the patient had pulled a Foley out of, using my hands to get a nipple into a baby's mouth... The list goes on.
Treat people with dignity and respect. Remember that you are caring for a human being with feelings and likely some sense of embarrassment regarding the care they cannot provide for themselves. Think about how you'd feel if you were them. This is someone's loved one- a dad, grandmother, daughter, best friend, respected member of their social circle. How would you want someone to treat your mom?
Always provide privacy when performing these kinds of tasks. It doesn't take much effort to pull a curtain or close a door.
That's really the kind of stuff that goes through my head. My focus is on making it as comfortable for the patient as possible, being efficient so they're exposed as little as possible, and doing what I can to keep their dignity intact. Be respectful.