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Log into your Google Drive account, click Trash, select the files you want to delete, then right-click and click Delete forever.
To change the sync preferences, click on the Google Drive icon on your computer, then select Preferences.
Here you can check the box next to "Only sync some folders to this computer."
Select which folders you'd like to sync to your Google Drive folder, then click Apply changes. The folders you do not check will not sync back to your computer.