It is possible to remove a pinion gear with a steel vise. Grip the bad pinion firmly and punch the motor shaft out with a 3/32 punch.
The new pinion can be pressed on by clamping the the motor and new pinion lengthwise to push it onto the shaft. It is VERY important that you do not load the motor bushings in this direction so put a 1/8" ball into the end bell (other end where the brushes are) so when you press the whole thing, only the pinion and armature shaft are loaded. Also put a firm pad (plastic or even stacked paper) on the face of the pinion so you don't mar it with a textured steel vise jaw.
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