Find the branch-side edge of the stem collar of the branch you intend to cut. The collar is a band of wood bordering the tree trunk and the branch.
Make a slight mark with the edge of a pole pruner about 6 inches along the branch from the collar on the underside of the branch. This mark will serve as a cutting guide for making your undercut.
Use a sawtooth pole pruner to make a cut about a third of the way through the branch at the marked line from the underside of the branch.
Make a second cut about an inch farther out on the branch parallel to the first, but sloping slightly toward the first cut, so it meets the top of the first cut at the 1/3 mark, creating a wedge shape undercut in the tree.
Remove the branch by cutting from the top of the branch straight through about 4 inches farther down the branch. The undercut will serve to prevent the weight of the branch from damaging the stem collar, which could open a path for disease throughout the tree. After removing the majority of the tree branch, make a third cut along the branch-side edge of the collar to remove the branch completely.