One of the things that I find really irritating is sticking brakes, and when my brakes began to stick in the semi-closed position the other week I visited my local bike shop and asked for their advice.
The solution is pretty simple, use WD-40 or similar to remove all the gunk in the brake. For this to be effective you have to allow the brakes to open and close through the whole range available to them. Make sure the bike or at least the brakes are clean before you start.
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