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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