How to avoid java util ConcurrentModificationException when iterating through and removing elements from an ArrayList

Question

I wanted to iterate over an ArrayList and remove the elements, but I am getting an error: "java.util.ConcurrentModificationException".

My code:

public class Test() {
    private ArrayList<A> abc = new ArrayList<A>();

    public void doStuff() {
        for (A a : abc) 
        a.doSomething();
    }

    public void removeA(A a) {
        abc.remove(a);
    }
}

What is the best practice to handle this problem? Should I clone the list first?