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Remove the wheels. Remove the caliper and hang it so as to not put tension the the brake line. There should be one if not two small holes in the wheel mount surface. Find the right size and thread to screw into the this hole. It will bottom out once it contacts the hub. Have a friend hold the rotor to prevent it from spinning and continue to tighten the bolts. If you have two of them then make sure to alternate tightening. This should force the rotor free from the hub and off the studs.

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Q: How do you replace rotor on a Toyota Matrix 2003?
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