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Depending how small they are, and the curvature, I use a couple of small wood carving chisels, the cheap kind you buy in a set of six or so, from a dollar store or ebay etc for a couple of bucks. There's usually 2 different sized rounded ones in the set. I just press it onto the card over a cutting mat to chisel out the curve. I've had success with this in boxboard and sometimes denser card up to about 3 or 4mm thick.
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