This is unlikely to work for armor
In the PHB, under Getting Into and Out of Armor, are the rules for "doffing" (taking off) armor. RAW, it takes one minute to take off medium armor, and 5 minutes to take off heavy armor, by yourself. You can reduce that time by half if you have someone helping you.
If you have someone actively opposing you, it would presumably take longer. Thus if you are trying to take off someone's armor and they are resisting, it seems reasonable that it would take longer than a minute, and certainly longer than a turn / one action or the length of a combat.
You could make the argument that normally taking off armor is done in such a way as to preserve the armor, and taking it off in a way that might damage it (cutting straps rather than opening buckles, for example) would be faster (and see How long would it take to doff armour heated by the Heat Metal spell?). While this is a reasonable argument, armor is typically designed with these straps on the inside, covered by plates. It would not be something that an unintelligent beast, with no thumbs, could reasonably do.
For such a beast getting a PC out of armor at the time scale of a combat, I agree with KilrathiSly's answer on the above question, that this is best done by having the beast attack the armor and damage it as an object.
For items, are they designed to stay on against force?
Depending on the type of clothing or gear you are trying to remove, damaging them (like armor, above) might be the appropriate mechanism as well, or it might not. For example, the illustration of the cloak of protection shown in the DMG makes it look like it has a throat clasp that would likely have to be broken before it could be removed. In contrast, a robe of stars might be much easier to simply grasp and pull off - perhaps its own weight draped over its wearer's shoulders the only thing keeping it on.
There is no rule for removing loose clothing or gear from someone, but we can look at similar rules for inspiration.
A contested check
The DMG has the optional rule for disarming someone:
A creature can use a weapon attack to knock a weapon or another item from a target's grasp. The attacker makes an attack roll contested by the target's Strength (Athletics) check or Dexterity (Acrobatics) check. If the attacker wins the contest, the attack causes no damage or other ill effect, but the defender drops the item.
In this case, the attacker is trying to knock something from the grasp of the defender, so it is probably an upper bound for the difficulty of such a task. Against an item that is not actively held, like a cloak or cap, you might give the defender situational disadvantage on their skill check to retain the item. The Disarm rule assumes you are trying to use a weapon to knock the item away - if you are instead grabbing an item, rather than use a weapon proficiency on your attack roll, anything that affects your grapple, or perhaps the sleight of hand proficiency, might be the appropriate modifier.
An uncontested check
One item that does have rules for you grabbing it from its owner is an ioun stone; a magic stone that whizzes about one's head. Another creature may grab your stone away from you by making a DC24 Dexterity (Acrobatics) check. Again, this is likely an upper bounds for difficulty, because knocking the non-magical cap off someone's head should be far easier than grabbing a tiny, erratically flying stone that moves of its own accord, so a lower, or much lower, DC on the same check would be appropriate.
Caveat
In my experience as a DM, there are few things that antagonize players so much as enemies that attempt to seize or destroy their magical gear. If you do decide to implement rules for this, I would save them for a particular foe you really want the players to hate. If every opponent they face is targeting their gear, your players will likely think you, as a DM, are being a jerk.