Can we kick out our roommate without giving her legal notice?

My current roommates and I want to kick out one of our roommates. Her lease expired at the end of June (a few days ago), and at the moment, we're letting her stay here out of the goodness in our hearts. Well... we can't stand her anymore. Legally, can we just kick her out and move her stuff outside, or do we have to give her a few days notice? How do we go about this? (We live in Michigan, by the way.)