yum can do that. Let's say you did "yum install xyz", and yum installed 3 more packages as dependencies for the xyz package.
sudo yum history list
will show you the last 20 transactions. Each transaction is given a number (first column). If your xyz install is in that list, you can do:
sudo yum history undo transaction_number
For transactions older than the last 20 shown, you'll need to specify that particular transaction by number, e.g.:
sudo yum history info 455
to identify the right transaction. You could:
sudo grep xyz /var/log/yum.log
to find the date you installed package xyz and it's dependencies, and use that date to home in on the yum history transaction.
See "man yum" and "yum history help"