Simply open the lid where the jack is located and with your right hand twist the jacks eyelet towards you (counter clockwise) to loosen it up enough to remove it.

I have found that when using the factory jack that it will cause the frame's jack hole lips to bend thus getting stuck on the SF and you have to work it back and forth to bend the lips back enough so to be able to remove the "attached" jack. This happened on two out of four of mine when I rotated the tires.
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