A pedal can be removed using a pedal wrench or, sometimes, an allen wrench if there is a hexagonal hole in the inside end of the pedal axle. Typically, a normal open end or adjustable wrench will not work, because the head is too wide to fit between the pedal and the crank; also a good shop-quality pedal wrench will be very long, for the required leverage. This is also the limiting factor for the use of allen wrenches in this application.
Pedals are generally clearly marked right or left. The mark can usually be found at the inner end of the mounting bolt.
There are two important factors involved in removing bicycle pedals:
Note that there are basically two sizes of pedal axle threads, both SAE threads: 1/2 inch diameter for the one piece cranks typically found on cheaper bikes, and 9/16 inch diameter for the three piece cranks found on midprice and high priced bikes.
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