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The most common form of magnetar activity is short X-ray bursts, with durations from milliseconds to seconds, and luminosities ranging from $10^{36}$ to $10^{43}\ {\rm erg}\,{\rm s}^{-1}$. Recently, an X-ray burst from the galactic magnetar SGR 1935+2154 was detected to be coincident with two fast radio burst (FRB) like events from the same source, providing evidence that FRBs may be linked to magnetar bursts. Using fully 3D force-free electrodynamics simulations, we show that such magnetar bursts may be produced by Alfvén waves launched from localized magnetar quakes: a wave packet propagates to the outer magnetosphere, becomes nonlinear, and escapes the magnetosphere, forming an ultra-relativistic ejecta. The ejecta pushes open the magnetospheric field lines, creating current sheets behind it. Magnetic reconnection can happen at these current sheets, leading to plasma energization and X-ray emission. The angular size of the ejecta can be compact, $\lesssim 1$ sr if the quake launching region is small, $\lesssim 0.01$ sr at the stellar surface. We discuss implications for the FRBs and the coincident X-ray burst from SGR 1935+2154.