How does one "remove the suckers" from tomato plants?

I'm a beginner in the garden and need to ask someone to explain how to remove the suckers from my tomato plants.

I totally understand the need (now) but I don't know what they look like so I can take them off and let the remaining plants get all the nutrients as they grow.

Last year, my very expensive heirloom tomato plants (from a fancy mail
order Garden company) only yielded a few small tomatoes. The plants themselves grew to a wonderful 5 feet tall - more like corn stalks. I didn't know about the "suckers".

is there instructions for this? I'd really like to do it right this year.

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