Consider a non-terminal $A$ with two productions $A \rightarrow A \alpha \mid \beta$ where $\alpha$, $\beta$ are sequences of terminals and non-terminals that do not start with $A$. It produces strings of the form $\beta\alpha^{*}$. This rule for $A$ exhibits direct left recursion. The left recursion can be turned into right recursion by rewriting in terms of a new non-terminal $R$ as $A \rightarrow \beta R \nonumber$ and $R \rightarrow \alpha R \mid \epsilon$.

Generally, immediate left recursion can be eliminated by the following technique which works for any number of $A$ productions. First group as \[ \begin{equation} A \rightarrow A\alpha_{1} \mid A\alpha_{2} \mid \cdots \mid A\alpha_{m} \mid \beta_{1} \mid \cdots \mid \beta_{n} \end{equation} \] where no $\beta_{i}$ begins with an $A$. Then replace the $A$ productions by \[ \begin{eqnarray} A &\rightarrow& \beta_{1}A^{\prime} \mid \beta_{2}A^{\prime} \mid \cdots \mid \beta_{n}A^{\prime} \nonumber \\ A^{\prime} &\rightarrow& \alpha_{1}A^{\prime} \mid \alpha_{2}A^{\prime} \mid \cdots \mid \alpha_{m}A^{\prime} \mid \epsilon \nonumber \end{eqnarray} \] This procedure eliminates all direct left recursion from the $A$ and $A^{\prime}$ rules (provided no $\alpha_{i}$ is $\epsilon$). For example, the language of arithmetic expressions might be written \[ \begin{eqnarray} & E &\rightarrow E + T \mid E - T \mid T \nonumber \\ & T &\rightarrow T * F \mid T \mathbin{/} F \mid F \nonumber \\ & F &\rightarrow \left( E \right) \mid \mathbf{id} \nonumber \end{eqnarray} \] which, on applying the above procedure yields \[ \begin{eqnarray} & E &\rightarrow T\;E^{\prime} \nonumber \\ & E^{\prime} &\rightarrow +\;T\;E^{\prime} \mid -\;T\;E^{\prime}\nonumber \mid \epsilon \nonumber \\ & T &\rightarrow F\;T^{\prime} \nonumber \\ & T^{\prime} &\rightarrow *\;F\;T^{\prime} \mid \mathbin{/}\;F\;T^{\prime} \mid \epsilon \nonumber \\ & F &\rightarrow \left( E \right) \mid \mathbf{id} \nonumber \end{eqnarray} \] Consider the grammar \[ \begin{eqnarray} S &\rightarrow& A\;a \mid b \nonumber \\ A &\rightarrow& A\;c \mid S\;d \mid \epsilon \nonumber \end{eqnarray} \] The non-terminal $S$ is left recursive because $S \Rightarrow A\;a \Rightarrow S\;d\;a$ but it is not immediately left recursive. The procedure given above does not eliminate left recursion of this kind. It is however amenable to the following approach. First order the non-terminals $S$ then $A$. We'd start by eliminating direct left recursion from the $S$-productions but there is none among the $S$-productions so we move onto the $A$-productions. First we eliminate $S$ from the $A$-productions by substitution to obtain the following $A$-productions \[ \begin{equation} A \rightarrow A\;c \mid A\;a\;d \mid b\;d \mid \epsilon \nonumber \end{equation} \] and now eliminate the direct left recursion in the $A$ to get \[ \begin{eqnarray} & S & \rightarrow A\;a \mid b \nonumber \\ & A & \rightarrow b\;d\;A^{\prime} \mid A^{\prime} \nonumber \\ & A^{\prime} & \rightarrow c\;A^{\prime} \mid a\;d\;A^{\prime} \mid \epsilon \nonumber \end{eqnarray} \] Technically, the above approach is only guaranteed to work when the grammar to which it is applied has no cycles or $\epsilon$-productions. The above example violates this in that the rule for $A$ contained an $\epsilon$-production but it turns out in this case to be harmless. Generalizing, assuming an input grammar $G$ with no cycles or $\epsilon$-productions, an equivalent grammar with no left recursion can be found by, arranging the nonterminals of $G$, $A_{1}, A_{2}, \dots, A_{n}$ say, then visiting each in order, for each $A_{i}$, replace each production of the form $A_{i} \rightarrow A_{j}\gamma$ by the productions $A_{i} \rightarrow \delta_{1}\gamma \mid \delta_{2}\gamma \mid \cdots \mid \delta_{k}\gamma$ where $A_{j} \rightarrow \delta_{1} \mid \delta_{2} \mid \cdots \mid \delta_{k}$ are all the current $A_{j}$ productions, $j < i$ and then elminiate the immediate left recursion among the $A_{i}$ productions.

One of the pre-conditions of the algorithm of the previous section is that the input grammar $G$ contain no $\epsilon$-productions. So, we seek a method for eliminating $\epsilon$-productions where we can. To begin, we define a non-terminal $A$ of a grammar $G$ $\textit{nullable}$ if, $A \overset{*}{\Rightarrow} \epsilon$. A non-terminal is nullable if, in $G$, $A \rightarrow \epsilon$ or if $A \rightarrow A_{1}A_{2} \cdots A_{k}$ and each $A_{i}$ is nullable. To illustrate the procedure, let $G$ be given as: \[ \begin{eqnarray} S &\rightarrow& A\;B \nonumber \\ A &\rightarrow& A\;a\;A \mid \epsilon \nonumber \\ B &\rightarrow& B\;b\;B \mid \epsilon \nonumber \end{eqnarray} \] In this grammar all of $S$, $A$ and $B$ are nullable. The new grammar introduces a new start rule $S^{\prime} \rightarrow S$ and since $S$ is nullable we also add an $\epsilon$ alternative to conclude $S^{\prime} \rightarrow S \mid \epsilon$. Now, for each rule $A \rightarrow X_{1} X_{2} \dots X_{k}$ create rules, $A \rightarrow \alpha_{1}\alpha_{2}\cdots\alpha_{k}$ where \[ \begin{equation} \alpha_{i} = \begin{cases} X_{i} & \text{if $X_{i}$ is a terminal/non-nullable non-terminal} \\ X_{i}\; \text{or}\;\epsilon & \text{if $X_{i}$ is nullable} \end{cases} \end{equation} \] and not all $\alpha_{i}$ are nullable. Applying this procedure then, we get \[ \begin{eqnarray} & S^{\prime} &\rightarrow S \mid \epsilon \nonumber \\ & S &\rightarrow A\;B \mid A \mid B \nonumber \\ & A &\rightarrow A\;a\;A \mid a\;A \mid A\; a \mid a \nonumber \\ & B &\rightarrow B\;b\;B \mid b\;B \mid B\; b \mid b \nonumber \end{eqnarray} \] The net effect is that $\epsilon$-productions have been eliminated but for the $S^{\prime}$ production which does not appear on the right-hand-side of any other rule.

References:

[1] Compilers Principles, Techniques, & Tools by Aho et. al. 2nd Ed. 2007.