I don't think there's a way to do what you ask from within a Limited Account.
You could give them a Standard Account, but then you would have concerns about what they can do.
You could, if you wanted to, disable UAC altogether, but that wouldn't be a good course of action
I realise that it can be annoying to have to do what you're doing, but without the protection of UAC your computer would be at risk.
Loads of information here that may be useful to you: User Account Control Step-by-Step Guide