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Using a weapon to smash a foe’s weapon or an object accessible on the foe’s body is accomplished with the sunder combat maneuver.
Hardness: Each object has hardness—a number that represents how well it resists damage. Each time an object is damaged, its hardness is subtracted from the damage. Only damage in excess of its hardness is deducted from the object’s Hit Points. On average, a sturdy piece of equipment (such as a weapon or a suit of armor) has a hardness equal to 5 + 2 × its item level. Any other piece of equipment has a hardness equal to 5 + its item level.
Hit Points: An object’s Hit Point total depends on its item level and is modified by additional criteria. On average, a sturdy piece of equipment (such as a weapon or a suit of armor) has a number of Hit Points equal to 15 + 3 × its item level. Any other piece of equipment has a number of Hit Points equal to 5 + its item level. Any item of level 15th or higher receives an extra 30 Hit Points. Very large objects may have separate Hit Point totals for different sections. Objects do not have Stamina Points.
Damaged Objects: A damaged object remains functional (though it has the broken condition) until the item’s Hit Points are reduced to 0, at which point it is destroyed. Damaged (but not destroyed) objects can be repaired with the Engineering skill or a number of Spells.
All of this is from the "Smash an Object" section. So although the Sunder maneuver only says "weapon or object easily drawn," I believe that is superceded by the more expansive description under Smash an Object which says you use Sunder to attack anything "accessible on the foe's body." So yes, you can sunder armor.