Simple answer is that you can't - the system is either a domain member or a workgroup member.
Long answer is that you probably don't need to. You can probably get away with just keeping it on the domain.
I have never had any problem accessing shared resources hosted by non-member systems from a domain-joined system; that is to say, you don't need to be a member of the workgroup in order to use its shared resources - you just need to have valid credentials for the non-domain server you're accessing.
Likewise, I've never had any trouble accessing shared resources hosted on domain-joined servers from non-domain systems; typically, you just need to provide domain-based credentials when accessing the particular resource. For instance, you could use this command line to map a network drive hosted on a domain member server from a non-domain client system:
net use x: \\memberserver\sharename /user:domain\username
You can use this approach with graphical tools as well.
I can't guarantee this sort of thing will work in all network configurations, but it's always worked for me.
Don't you need administrative permissions to leave a domain? – mythofechelon – 2015-07-09T13:55:50.330