Hold the guitar flat, strings up, and shake it gently until the pick is
located directly below the center of the sound hole. Then after making sure you have a
tight grip, a high enough ceiling, and everything and everyone is out of the way, in a
swooping motion that starts rapidly upward, turn the guitar over your head stopping
directly above. The centrifugal force holds the pick in place until you stop over your
head and then the pick falls out through the sound hole.
I think the best way to get picks, etc. out of the guitar is to put a piece of Blu-Tack on the end of a pencil and just press it down on the pick and lift it out. Maybe Blu-Tack is called something else in the US but its sort of a blue plastic putty.
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