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Method 1; remove the cotter pins, and put a socket between the joints (see attached picture) back one of the nuts off until it pushes the ball-joint stud out of the arm.. you may have to use some washers to take up the space between the nuts and socket..
method 2 (aka the lazy man's way )
just take a hammer and give the spindles a few sharp blows (not super hard, they are aluminum remember!) right on the red dots, should be enough to break the taper-lock between the spindle and ball-joint stud..
method two is BAAAAAAD
You can use different size sockets(longer and shorter ones) to get the job done.
2 sockets, one long and one short and a 15-17mm ?wrench
I usually loosen the nuts till they are flush with the thread end then I put the socket in between and untighten the top or the bottom nut, and repeat for the other ball joint which is still stuck.(the second ball joint usually needs the longer socket to pop the 2nd one out)
when you do this, its a gamble on which ball joint will pop out, not that it matters.
stay away from method two!!!!!
If you hit the spindle and the ball joint pops out you run the risk of bending in the hole were the ball joints goes in.