After you remove the caliper assembly, the rotor just slides off. Sometimes rust builds up around the hole in the middle of the rotor where it fits on the hub and you have to spray a little lube around it and tap from behind with a hammer. On rare occasions I've had to heat the rotor with a torch to expand the center enough for it to free up. Usually a good whack with a hammer will release it.
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After you remove the caliper assembly, the rotor just slides off. Sometimes rust builds up around the hole in the middle of the rotor where it fits on the hub and you have to spray a little lube around it and tap from behind with a hammer. On rare occasions I've had to heat the rotor with a torch to expand the center enough for it to free up. Usually a good whack with a hammer will release it.