Ok everyone I've solved this problem. You can see what the problem was in the pictures below.
Problem: The starter does not have enough clearance between the exhaust pipe and the passenger side lower control arm.
My Solution:
1) Jack up the front of the car so that the two front wheels are off of the ground
2) To slightly increase the clearance between the exhaust pipe, place a jack underneath the lower control arm on the passenger side and jack it up (compress the suspension on that wheel)
3) Remove both sets of bolts holding up the exhaust pipe by the dougnut connectors on each side of the engine. (I'm not sure if thats the proper name. They're between the engine and the cat., but closer to the engine.)
4) Move the exhaust pipe to the side and slide out the starter. (Watch out on this one - I had the damaged starter held up by the exhaust pipe and as soon as I freed the exhaust, the starter fell right onto my chest from about 1.5 feet.)
These are the pictures of the starter stuck between the exhaust pipe and the lower control arm.
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