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Generally speaking, No! You can clean them by removing them and using a rust removal solution. Most of the time the rotor is only rusted in areas where the break pads don't touch. In this case, who cares? The breaks work fine. If they are rusted all over, then you can try cleaning them. Don't paint them!! Some website suggest this. First of all the paint probably want last but most importantly the rotor will not be able to release heat as it was designed. You can also have them "turned" assuming you have a good surface left.

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Q: Do you need to replace rusty break rotors?
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