If the value you need to remove from the set can’t be present more than once, you could use this:
UPDATE yourtable
SET
categories =
TRIM(BOTH ',' FROM REPLACE(CONCAT(',', categories, ','), ',2,', ','))
WHERE
FIND_IN_SET('2', categories)
see it working here. If the value can be present more than once, this will remove all occourences of it:
UPDATE yourtable
SET
categories =
TRIM(BOTH ',' FROM
REPLACE(
REPLACE(CONCAT(',',REPLACE(col, ',', ',,'), ','),',2,', ''), ',,', ',')
)
WHERE
FIND_IN_SET('2', categories)