Although I don't have a Kindle Non-Touch myself, I can guarantee that the answer to your question will be in the User Guide which you'll find on your Kindle. Do read it - it's full of useful information.
The way it's done on the Kindle Keyboard - and the method is going to be something similar on the non-Touch - is to highlight the book on the Home page, press the right arrow, and select "Delete" (or "Archive" if it's an Amazon book) from the resulting information screen.
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