Manually remove DPM agents from DPM console

How do I manually remove a DPM agent from DPM after the protected server is gone? They de-commissioned a server and forgot to uninstall the DPM agent before taking the server down. Now the DPM console has a stale agent record in it. I have had a few people ask me how to remove these as it is not intuitive in the DPM administrative console. This is also something I ran into when I first started out with DPM...

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