Park on a level surface
Engage the parking brake
Loosen the lug nuts
Lift the vehicle with a jack
Support the vehicle with jack stands
Remove the wheel
Remove the brake caliper bolts
Hang the caliper with a wire or hook
Remove the brake caliper bracket bolts
Remove the caliper bracket
Remove any rotor retaining screws
Spray penetrating oil on the rotor hub if needed
Tap the rotor with a rubber mallet
Pull the rotor straight off the hub
Clean the hub surface
Inspect the hub and wheel studs