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you have to take the tire off first.. then take the brake/brake caliper completely off so it doesnt obstruct the rotor..
and it should come right off.. if not, get a rubber mallet or some sort of hammer and tap around the outside edge of the rotor until it comes free.. its a very simple process..
change it out, replace the caliper and tire etc.. Also, if your going to change the brake rotors, I highly recommend you change the brakes as well.. Im about to do all of the above with my 05 avalon!
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