It is easiest to do this in stages using a sharp saw. Remove most of the branch first, cutting 20cm from where it joins the trunk. Then remove the remaining stub.
The best technique is to start with an undercut. Make a small cut from the underneath of the branch first, then cut in from the top all the way through to meet the undercut. This prevents the bark from tearing as you saw through the branch.
Once you have removed the first part of the branch, remove the stub using the same technique with the undercut. Cut back to the collar, rather than flush with the trunk. Angle the cut sloping downwards and away from the trunk so rainwater will not collect and cause rotting.