I just pulled the motor on my 200ES to go through the top end a few months ago. Remove and unbolt the motor mounts, remove the exhaust header pipe, and then pull it to the left, the pull starter side, tip the motor over a bit so the head clears the front down tube then like Howdy said wiggle and pull, wiggle and pull. The driveshaft will slide right off at the knuckle and the motor will come right out. I didn't have to pull the electric starter on mine to get it in and out. I didn't even pull the carb, i just removed the gas tank, disconnected all the wiring, unbolted the intake tube from the head and left the carb and intake hanging from the airbox, and then just pulled it out to the left. I removed the front band clamp, motor side, of the driveshaft boot and left the boot on the driveshaft housing, loosen the clamp enough you can slide it back over the boot and leave it there for reinstall.
Now installation on the other hand... Thats when you will need the whiskey bottle, and make sure there is no children present for the obscenities you will be screaming at it, i know i was. Come in from the left as when you took it out, but the tricky part is getting the spring on the driveshaft to compress far enough to get the motor to slide back far enough, the driveshaft knuckle pushes against the spring, so you have to work against that spring to get it into place and line up the mounts. It took me three times longer to install it then it did to remove it. I had it pulled out and on the bench in maybe a half hour, took like two hours at least to get it back in and bolted up thanks to that spring.
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1984 Honda ATC200ES "Big Red"
1982 ATC200E "Hondie"
1988 TRX300FW "Project Quad" Still in progress....