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i typically peel the velcro off carefully with my fingers--usually by the time velcro is ready to come off a used pedal it doesn't need anything more than a corner picked up--and then use a paper towel or rag moistened with denatured alcohol to remove any residue after checking to be sure it's not going to take off the paint.

nieh wrote:I always pry up a corner with either my nail or a credit card. the use pliers to peel it off. Then use goo gone and a rubber scrapper for dishes to get off all the residue.

This. But then I use the sticky part of the velcro against itself to remove the residue. Fighting fire with equally sticky fire, so to speak.

45º angles usually work for me best when pulling it off