As above, use a hammer and small punch to push the pin through one way or the other. Grab it with some pliers (I like to use diagonal cutters for good grip) and pry it out. Take the pin to your local home improvement store and get a new split pin (aka roll pin) from the drawers in the nuts and bolts aisle. Take the pin home and check the length against the crank handle. Carefully file or grind the pin to length, leaving it a bit long if possible. Use a hammer to tap the pin into the shaft.
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2001 Suburban 4x4. 6.0L, 4.10 3/4 ton **** 2005 Jayco Jay Flight 27BH **** 1986 Coleman Columbia Popup