If it was a slipstreamed installation (built into the CD or distribution point) then there is nothing to uninstall. If the SP was installed AFTER the initial installation, we create a hidden folder under winnt called $NTServicePackUninstall$ (assuming you chose to archive your files). The backed up files are kept there, and you can uninstall them via batch file in the recovery console (if you can't boot) or you can run the uninstall file in the subfolder.
If you manually roll the SP back via the recovery console, it's recommended that after you boot up, you then go to add/remove programs and uninstall it to make sure any registry changes get rolled back (as you can't roll those back from the RC).