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Remove the caliper, 2 bolts, then the bracket bolts, 2 bolts. Thread an 8.8M screw into the rotor and keep screwing it in until the rotor pops off. If you don't have such a screw handy, you can bang on the rotor with a hammer (although this process is much more aggressive in nature and it is possible to damage a wheel bearing while banging away at the rotor).

I've posted some videos to help illustrate the process:

http://www.YouTube.com/watch?v=hOqwwkoG0Y8 (part 1)

http://www.youtube.com/watch?v=k0QBj0RJ7F4 (part 2

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Q: How do you replace rear brakes 2004 Mazda rx8?
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