pull off

Wiktionary

To remove by pulling.
“Pull off old blossoms so that the plant will keep flowering.”
“As soon as she got home, she pulled off her clothes.”
To achieve, accomplish, succeed at (something difficult).
“to pull off a heist”
“Six pages is a lot to write in one night. Do you think she can pull it off?”
To turn off (a road onto the side of the road, or onto another road).
“(transitive) After about a mile, we pulled off the main road onto a dirt track.”
“(intransitive) I think the car is overheating – we'd better pull off .”
To begin moving and then move away; to pull away.
“As the police approached, the car pulled off and sped away into the distance.”
To masturbate manually.