This will do it: http://www.parktool.com/product/mast...k-pliers-mlp-1

The black SRAM 10s links snap together when installed, so you can't get them apart with just fingers alone.
As for removing by *hand*, I've heard of people using a very pointy needle nose pliers, or slipping a piece of wire through the link then twisting the ends, or using a channel lock pliers on diagonally opposite corners, but if you are going to do something, there is no substitute for having the right tool for the job.