All you need is to knock it off from distance. A sling shot, or a long stick will do. You also need an escape route and running shoes. Just in case.
Keep your distance. Best is the stick method. Aim well, knock the small nest off with a quick one time hit, drop the stick and take two steps back. Should be no problem. The stick should be at least 10 feet long. Then wait a couple hours and they’ll all be gone.
If the nest is bigger than say a tennis ball, I would not do the stick method. What I would do is before you do the stick method, get up there with a cloth soaked with lighter fluid. Use gloves… cover yourself… This method is just as risky as spraying but the result is faster. Probe the cloths thighlty to block the hole and light it up. Let it burn 20 seconds or so, then knock it off with a stick. I’ve seen it done quite a bit like that. The queen suffocates and problem solved.
Belgium Pie method works well. Best is to have a lake or a swimming pool right near.
Back where I grew up, we have the ground wasps. They make their nests in the ground like ants. We once started a fire on one of them nests while doing some clearing for a golf course. By 4:30 pm, about 500 meters square around our fire, all you could see was the biggest cloud of wasps I had ever seen. From the ground up to about 8 feet high, all you could see was black. The old man I worked with fed the fire and he had it burning for 2 days. He would light up the coal the next day and burn all day. I’m talking a 10 feet wide type fire, not a campfire.
The following week, we spotted wasps crawling into a hole right in the middle of the ashes.