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Your question is so non-specific (regarding year/model) that an accurate answer is next to impossible.

Since you've posted in the Solara section and since you're talking about a rotor and not a drum I'll assume you're asking about a Gen II (2004 and later) Solara. In that case, removal is simple.

1. Remove the road wheel
2. Remove the caliper and tie it up someplace so it isn't hanging by the hose
3. You should simply be able to pull on the rotor and it will slide off the studs.

4. If that doesn't work there could be two reasons. A. It's rusted to the axle in which case you need to tap the rotor around the circumference with a rubber mallet until it breaks free. Or, B. You have the parking brake engaged. Disengage it so the brake shoes retract (the parking brake is in integral part of the rear brake and uses small shoes to grip the inside of the rotor) and you should be able to remove the rotor.

Cheers

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