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Remove the 2 bolts holding the caliper mounting bracket to the steering knuckle. These bolts will be tight. Remove the 4 lug nuts holding the rotor.
Remove the bracket from the knuckle. Before removing the rotor, make a mark on the rotor indexing one wheel stud to one hole in the rotor. This assures the rotor will be re-installed in its original position, serving to eliminate minor vibrations in the brake system.
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