Particle removal mechanisms in cryogenic surface cleaning are examined. The effect of impacting solid carbon dioxide particles and the hydrodynamic forces and torques are included in the model. Sliding detachment models and rolling detachment models in conjunction with the theory of critical moment are used. The critical conditions for removal of particles of different sizes are evaluated. For various carbon dioxide pellet diameters, incoming flow angles, nozzle, and cleaning surface separation distances, the critical shear velocities for particle detachment are evaluated.