Is there a way to remove contacts from an Salesforce.com Campaign via Eloqua?

We are relatively new to Eloqua. We added approx. 100 people to the wrong SFDC Campaign via an Eloqua campaign. Is there any way to remove them via Eloqua or do we need to do this in SFDC with the data loader? I got all excited when I saw there was a "Delete Custom Object" action available in Custom Object programs thinking that would do the trick but I can't see how to use it for my purpose.