Hit the lower part on both joints... the part that is cast into the actual steering knuckle. On the tie-rod/steering joint, you'll want tosomehow apply a tad bit of upward force to the tire rod though at the same time.... on my lift, i lower the car down onto a pole i made specifically for holding things when a car is in the air... like an extended jack. But on the ground, a section of 2x4 or something could be placed under it so that it pushes up on the tie rod, and then when you hit the knuckle-side of the joint, it will vibrate it loose, and de-seat it.
The upper will de-seat on its own, since it has the weight of the knuckle pulling down on it to help it de-seat when you hit it.