By popular demand, VEX has engineered a tool to easily remove pins from their robot! Use the pin tool just as you would a pair of pliers. Simply place the tool over the pin you want to remove, squeeze, and pull!
 
The Pin Tool has two other useful features on its handles. One side can be used to pry two beams apart, while the other can be used to push out pins (such as a 0x2 capped connector) that the tool would normally not be able to grab.