Modifying Admin Menu

I believe you can do that with the Role Manager plugin.

Here’s a version of that plugin known to work in 2.1:
https://www.im-web-gefunden.de/2007/01/28/wordpress-21-role-manager-plugin/

Additional Resource:
Roles_and_Capabilities

I tried with the Role Manager plugin first. It is a very good plugin or use management.
Unfortunately It does not let me remove the items from the menu.

You could give the Custom Admin Menu a try.

I tried that as well, it is a bit buggy on 2.1 and also It does not let me have different menu for different roles.

So far the method I could use which is not a very clean way is to remove the innerHTML of the IDs of unwated divs using javascript. I hope there is a better way than this.