JTAG should be able to do it as well, but you may run into issues such as JTAG disabled until you change something on the physical PCB, or disabled in software, missing components etc etc. This can and lead to a frustrating time that would better be served in other ways such as Doomer's suggestion, or other forensic analysis.
You might be able to access sectors through a serial port as well.
I doubt there is enough documentation in the public domain to help this, but if you do find any, please share

It depens on what methods the people you are attempting to sheild your data from are using.
For example, if no-one is ever going to open a book and read the contents, you only need to change the cover.
If you do a dd of the drive, check it with recovery tools, and come up blank, this could be good enough.
PS, not directed at the OP, but for all you criminals out there that want to get rid of data... If you criminal exploits do not gain you enough money to smash the hard disk to bits and buy another... it baffles me why you would be risking your freedom and reputation doing the crimes?