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Usually yes but it depends on your belt set up. I have a serpentine set up so I need to use an a/c delete pulley (~$30 at O'Reilly's) to make the belt routing work. Most V belt systems will allow you to just remove the belt.
If you're not going to be using it you'd probably be best off removing it. You may want to use it later and there's no sense in it sitting there spinning and not doing anything.