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If I have room I just lift the cylinder from one end. Choke the rod and lift to take the load off the top, push the top pin out, lift until the cylinder is nearly vertical and load is off the bottom and push the other pin out.
If you need to remove the cylinder in any position but vertical use...
Usually you need to support the weight of whatever the cylinder is holding and then push the pins out. If the arm is not supported the pins won't push out freely.
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