A possible solution, but I am not sure whether you only want to remove parentheses:
library(tidyverse)
getridof <- c("(a)", "(40X)", "(5X)", "(10X_a)", "(10X)", "(_)")
getridof %>%
str_remove("^\\(") %>%
str_remove("\\)$")
#> [1] "a" "40X" "5X" "10X_a" "10X" "_"
Taking the alternative interpretation of your question:
library(tidyverse)
getridof <- c("(a)", "(40X)", "(5X)", "(10X_a)", "(10X)", "(_)")
data <- c("(a)100", "(40X)33", "nothing", "zzzz(5X)", "22(10X_a)44", "yyy(10X)", "aa(_)b")
getridof <- getridof %>%
str_replace("\\(", "\\\\(") %>%
str_replace("\\)", "\\\\)") %>%
str_c(collapse = "|")
str_replace_all(data, getridof, "")
#> [1] "100" "33" "nothing" "zzzz" "2244" "yyy" "aab"