KWM: Welcome to the PE Gym! Mad_Kidd pointed out some great exercises. For the side jelq, you'll want to
jelq up instead of to the side.
For the A-Stretch, as Mk suggests, do it in reverse.
Also focus all your stretches, jelqs, and other exercises in an upward direction. The reason being: You want to enlarge your CS (the bottom chamber of your penis). That's what's holding you back.
You might also want to try an extender, which have been known to fix curves (common extenders are listed
here).
The key to fixing a curve like that is persistence. It will take some time, but if you're dedicated to it, you should be able to reach your goal.