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It's practice and finger strength. There's a spider exercise you can do that will help with your individual finger agility. With respect to your pinky, it could also be that your thumb is too high on the back of the guitar neck, as you move towards the thicker strings, you will want to move your thumb towards the floor side of the neck and then you can move it back to the ceiling side of the neck as you go to the thinner strings. There is a kind of exception if you're doing the over the top neck thing with your thumb (ie. how hendrix/frusciante do bar chords) ..but that's for future you to worry about...
