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you need the tools to change the disc brake padsand one additional wrench or socket.

remove the wheel

remove the brake caliper (thing that pushes the brake pads together against the rotor ) 2 bolts

remove the brake pads

remove the 2 bolts holding the brake caliper carrier from the end of the axle. these will be very tight and hard to turn

rotor can now slide off

this is very easy

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Q: What tools you need to change the rotors on a Lexus ES300?
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