I have found the two biggest culprits by far in forming these balls is a lack of moisture, and hair manipulation. It may not necessarily mean you have to trim. If your hair is curly, the hair will curl back on itself, but you can help keep it from knotting up so much.
I used to get those little balls all the time. I also used to have a really bad problem playing with my hair. My husband observed this, and noticed the balls forming after I had been twisting my hair.
Even if you don't have a problem playing in your hair like I did, regular combing, other manipulation, and even the wind whipping through your hair may be just enough to do damage. The best way to keep your hands (or the air) out of your hair is to put it up. A good alternative is to do as Faith said and mildly press your hair, at least on occasion.
I noticed when I kept my hair religiously moisturized, the balls were almost non-existent. If you already have them in, put conditioner on them, and a glycerin spray like spray like Stay Soft Fro, and gently pick the ends. They will probably quickly come out.
If you still want to wear your hair out and curly, keep your ends thoroughly moist and conditioned, and it will help prevent the little balls as well.