I'm a 55 year old married woman with a substantial investment in my 401K. I haven't contributed to my account in years because the performance of the funds that are available to me has been pitiful compared to my outside investments. My employer does not contribute to the plan but I like my job and have no plan to change employers. Is there any way I can get my money out of my 401K and roll it over into my IRA without incurring penalties?