I have two tattoos, one on my spine and one on my hip bone. The one on my back was my first and it didn't hurt at all. There was a moment of uncomfortability during the outlining, but I wouldn't describe it as pain. The one on my hip is a whole other story. That sucker
hurt. I think the difference is that I'm pretty skinny and my hip bone protrudes more than my spine.
Since you are getting it on your arm which is a bit fleshier than your spine or hip, I would think the pain would be minimal. With both of the tattoos I had, once the outline was done, I was in the clear as far as pain was concerned.
And yes, the needles pierce your skin, if they just painted the ink on the top of your skin, you wouldn't have to worry about pain, would ya?