Give your state issued driver's license to the teller and explain that you do not have your ATM card on hand. The teller has the ability to look up your information using your driver's license. You can then write out a check to cash.
Fill out your information on a withdrawal slip (available at your local bank if you don't have any on hand) and write in your account information. Submit the withdrawal slip to your bank and the teller withdraws the money from your account (depending on your bank, you may be asked to supply I.D. such as your driver's license).
Write out a check to cash and submit it to a teller at your local store. Depending on the store's policy, you may or may not be allowed to receive cash from the company (due to this it may be in your best interest to ask about this policy before writing out the check). You may only be allowed to do this if you have made a purchase.