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a large hammer
You remove the wheels, remove the brake caliper and the rotor is then free .
Defective caliper, restricted hose, caliper sliders sticking, contaminated brake fluid (probably not contaminated if only 1 front caliper).
Diod you check front brake pads
Remove the tire and wheel. Remove the brake pad springs. The brake pads will come off. Reverse the process to install the new brake pads.
A damaged/rusted/warped brake rotor on the right front.
You probably have a warped brake rotor. New rotors are fairly inexpensive, I would replace both front rotors and brake pads while your in there. The calipers and sliders along with the brake hoses and lines need to be examined also.
Check the front brakes. the most common problem for grinding is worn brake pads allowing the metal backer to rub the rotor.
Jack up and safely support front of vehicle. Remove front wheels. Remove front brake calipers and hang them with wire so not to damage brake hoses. Remove brake caliper brackets. Remove brake rotors. Rotors may need a little persuasion with a large hammer as they may be stuck/rusted in place. Reverse order to install rotors.
Windstar mini-vans are front wheel drive.
YES , the Ford Windstar is a front wheel drive vehicle
It should cost anywhere from $250-400 at your local mechanics shop.