You can easily remove applications from iOS devices by creating an app removal policy and then deploying that policy to a device. An app removal policy is based upon specifying an application's app bundle ID in the policy. In order to determine an application's bundle ID, you must push a software inventory policy on to a device. Or, you can use the Apple's Xcode IDE application tool called Bundle identifier to find an app's bundle ID.
Note: Removing an application will only work for applications distributed by Device Manager.