First login to the Control-plane node where you can list the nodes.
1) Drain the node (Remove from cluster)
# kubectl drain <node name>
You might have to ignore daemonsets and local-data in the machine
# kubectl drain
2) Now delete the node
# kubectl delete node <node name>
Now if you want to add the node again, you might want to re-generate the token of kubeadm join command for adding the worker.
Always use the --v=5 along with the kubeadm join command which will show the error description.
# kubeadm token create
Now use this token for the kubeadm join command , so that you can join the worker node.
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