Process is a little different between front and rear. For front, remove wheel, use a c-clamp to compress the caliper, remove caliper and bracket, leave flexible hydraulic hose connected (support it by tying it up with a wire), slide rotor off. If it sticks due to rust, rap on it with a rubber mallet. For rear brakes, same process except rotor may require more persuasion to slide off due to emergency brake shoes inside rear rotor (IF your vehicle has these).
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