If you're 100% certain that you want to disable FileVault 2, the easiest way to do so is to remove the Recovery HD partition from the machines in question. FileVault 2 relies on Recovery HD in order to access the FileVault 2 unlock tools.
Without a valid and working Recovery HD on the machine, any attempt to enable FileVault 2 using either Apple's fdesetup command line tool or the FileVault preference pane in System Preferences will not succeed. This is because the FileVault 2 setup process will check for the presence of Recovery HD and will not proceed with encrypting the Mac if Recovery HD is not there.