You can uninstall or removes an installed kamailio-berkeley-bin package itself from Ubuntu 14.04 LTS (Trusty Tahr) through the terminal,
$ sudo apt-get remove kamailio-berkeley-bin
If you would like to remove kamailio-berkeley-bin and it's dependent packages which are no longer needed from Ubuntu,
$ sudo apt-get remove --auto-remove kamailio-berkeley-bin
If you use with purge options to kamailio-berkeley-bin package all the configuration and dependent packages will be removed.
$ sudo apt-get purge kamailio-berkeley-bin
If you use purge options along with auto remove, will be removed everything regarding the package, It's really useful when you want to reinstall again.
$ sudo apt-get purge --auto-remove kamailio-berkeley-bin