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You have warped rotors. To cure the problem, you will need to remove both front rotors and have them turned by a machine shop, or replaced if they are not turnable. Be sure and replace both front sets of pads, even if they look good. Also check the calibers to make sure they are not sticking. Sticking calibers will overheat the rotors and warp them. When you put the wheels back on be sure and torque the wheel lug nuts to the proper torque, probably 80 lb/ft. Overtightened nuts will warp rotors.

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Q: Why on a 98 ford escort zx2 would your car shake when you apply the brakes going highway or faster speeds?
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