Es imposible liberar su pie de la trampa.

English Translation

It’s impossible to release his foot from the trap.

I wonder if one can use librar here.

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They seem to be the same word that has divided in meaning slightly over time. From the definitions I can find, liberar is used in the literal sense from your example. The definition from an Ecuadorian dictionary: Liberar: Poner en libertad a quien está preso o atado. The verb librar seems to be used more like the word liberate is commonly used in English, e.g. librar a la ciudad de vampiros, or no se va a librar de mí tan fácilmente

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