Kyle
If you are talking about change the URL from abc.com/somepath/pagename to abc.com/pagename, then you can can go to the page > properties > URLs, and put /pagename in the Path or Patten field and save.
But in you example "from MyDomain/Kentico82/home to MyDomain/home", it looks like you setup Kentico as an application under your domain name, then you can change that in IIS so it doesn't have /Kentico82 as an application path in the URL.