Rotors

This has probably been asked, but I am new. I just got a 1990 4runner, and the brake pedal vibrates. The roters need to be turned. I have not attempted to take them off yet. It looks like a bit of work. It has the auto locking hubs I assume because it doesn't have the old style manual hubs.

Can someone give me a brief description on how to get them off the truck?