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Go onto your computer( sync it if you have not) and uncheck the unwanted song. Sync again.
You manage the music on the iPad with the iTunes software on a computer. Set the iTunes software to Manually manage the music so it is not automatically synced when you connect the iPad.
First you go to your music. Then go to playlist like your playlist you synced in. Hit delete and find the song and that should be it. That's how it is on the iPod