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Take wheel off, take caliper off and hang it up with something so its not hanging with brake line, remove rotor, replace with new, replace caliper and wheel and your done.
It really is very easy. there is just a little bit more to it than above, but not much more. You can use coat hanger or bungie cord to help get the caliper out of the way. You do not need to break loose the brake line, just the two bolts on the back of the caliper. Once those are off the caliper will come off, slide old rotor off, new rotor on. You will want to do new pads at the same time. You will need to push the piston in the caliper back in because the new pads will have more material. You cant get it to move with just your hands. I usually use a clamp of some type. (D clamp/C Clamp). Put it all back together. Probably can find a video on youtube and no matter the car it will probably be VERY similar!
1. If your truck has a lot of miles on it, buy and install new wheel bearings. With care, it is fairly easy to put the new outer races into the rotor. Use a blunt tool to tap around the narrow edge of each race to get it in place. Grease the bearing with lots of grease worked into the bearings and install. Use a new cotter pin to keep the outer nut in place.
2. If the old bearings are in good condition, use a blunt tool to drive the outer races out of the old rotors and install them in the new rotors, following the above directions. Clean the old bearings, getting all the old grease out of them and put in new grease as described above. Use new cotter pins.
Either way, with some time, patience and care, the outer races can be removed and installed without difficulty. Just keep working around the edge of each race, being careful not to get it cocked in the hole.