2nd gen Apple pencil
How do you use the eraser on the 2nd generation Apple Pencil? (in notes)
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If you click on the icon on the bottom right that looks like the tip of a pen, it should bring up a menu where you can change tools. From there you can select the eraser and using the pencil, go over anything you would like to erase.
Alternatively, you can double tap on the pencil with one of your fingers and it should swap tools from whatever you are currently using and put you on the eraser instead. You can then double tap again to return to the tool you were previously using.