The lens gears are stuck/stripped. The S500 has horribly soft gears. I have a nice stack of bad S500 lenses myself. Unfortunately, the lens will need to be replaced. The only cost effective option is a good used lens from a camera on eBay that maybe has a bad LCD or something.
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If the lens is not coming out, its stuck, or it wont completely open or close, that is the lens assembly, that needs to be repaired. You need to take it to somebody, that can either repair it or replace it for you. There is nothing that can be done, other than that......