"I removed this object, which wasn't used for anything."
Translation:J'ai enlevé cet objet qui ne servait à rien.
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The action goes on continuing in the past; it has not ended yet. In other words, the completion of the action is not defined with respect to time(for the clause). In such cases, imparfait takes over passé composé.
Bonus point: If it were, ".... qui n'a servi à rien", it will explicitly state that the action is completed/ended/finished in the past and no longer continues. Also, one point to note is that habitual actions generally make use of imparfait.