For a more detailed procedure, see Add an RDM Disk to a Virtual Machine in the vSphere Client in Creating a Virtual Machine in the vSphere Client.
How to remove a Hard disk or RDM from a powered on virtual machine
Below is an alternative option should you wish to retain the same old RDM pointer files.
1)The first step is to document the scsi controller nodes related to each vmdk (eg scsi 0:1 -> Old-VM.vmdk) along with the controller sharing configuration where applicable.
2) Power Down the Old-VM
3) Detach the RDMS and any shared disks that are needed for the rest of the cluster from Old-VM
4) Storage migrate the Old-VM to another datastore to separate it from the vmdk pointer files which you wish to retain. (Important to ensure disks are detached as per step 3 first)
5) Attach the disks Old-VMs RDM pointer files to the NEW-VM as per your documentation in step 1.
6) Power on NEW-VM and verify VM is functional.
7) Once the original Old-VM vm has had its RDMS disks detached and the vm has been isolated to another datastore you can then confirm and remove this vm.
All the clustered vms including the NEW-VM will still point to the original Old-VM's folder and disks on the original folder and datastore.
The Old-VM vm config and its files (except required RDMS/vmdks) should have been migrated to another location before removal.