Can armour be disarmed?

Related to Can a shield be disarmed.

Can a piece of armour be disarmed?

For example, can an attacker knock their foe’s helm off? Remove their gauntlets? Disarm them of a cloak?

Why would an attacker want to do this? Maybe the item is magical and the attacker wants to deny its use. Maybe the item is just valuable and the attacker wants to steal it.

If so, what rules would cover this? If not, what rules would you suggest?