Solution 1)
DELETE FROM TableA
FROM
TableA as A INNER JOIN
TableB as B on A.ID = b.ID
WHERE B.COL2 = ''someval' and B.COL3 = 'someval'
Solution 2)
DELETE FROM TableA
WHERE ID IN
(SELECT ID FROM TableB where COL2 = ''someval' and COL3 = 'someval')