How to Uninstall the Agent Oracle Home that Registered with Inventory

A long title for a short trick. I have uninstalled my cloud control agent and tried to re-install it. I gave the same directory I previously used to install and EM Cloud Control Agent Deploy Wizard gave an error at remote prerequisite check:

So it says I should deploy to a different directory or uninstall the Agent Oracle Home already registered. Because of our deployment standards, I need to deploy this agent to the same directory so I searched how I can uninstall the Agent Oracle Home.