The key observation is that all graphs of "$K_5$ with one edge removed" are isomorphic.
To this end, you can just start with a picture of $K_5$, remove any one edge, and then try to re-draw what results as a planar graph. The important component is understanding why this approach generalizes enough to prove the graph is planar for _any_ single edge-removal.
To this end, here is a picture that came up after googling **K5 graph planar** :
!enter image description here
By way of a similar argument, you can reason about $K_{3,3}$ and draw a convincing picture:
!enter image description here
(From wikipedia **here**.)
Without loss of generality, the removed edge could be one of the two that cross above.