I assume that you know how to remove the brake caliper first (held to the hub using two bolts with 17 mm heads).
Once you have the caliper off the hub, you will need an impact screw driver with a Phillips bit to remove the two small screws that hold the rotor to the hub assembly. These are soft screws and just about impossible to remove with a regular screw driver. You can buy an impact screw driver for less than $10 if you look around.
That is definitely not going to do the whole job. That is, however, the first step. The rotors are pressed on. You will have to use some sort of press to remove them. I'm no car expert, so I can't tell you exactly how. My father-in-law helped my change my whell bearing and he got it off. If I remember correctly, he took off the entire a arm assemply and used some sort of generic press to get them off.
For the last part, some models have two threaded holes in the rotor. Find the appropriate screw (about 1.5 to 2 inches long) and screw it in, thus pushing the rotor out.
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