disengage >> /ˌdɪsənˈɡeɪdʒ/
Definition: [verb] Separate or release (someone or something) from something to which they are attached or connected.
Example: I disengaged his hand from mine
Definition: [verb] Remove (troops) from an area of conflict.
Example: the ceasefire gave the commanders a chance to disengage their forces
Definition: [verb] Pass the point of one's sword over or under the opponent's sword to change the line of attack.
Example: In order to do a precise disengage, you need a precise parry.