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I just did this a couple of weeks ago. Since you said replace I'm assuming you will not be reusing them. All 4 of mine were rusted badly so I had no intention of reusing them.
After removing tires, calipers, and the other brake part (the caliper holder), hit the back of the rotor with a big hammer. Turn the rotor a little and whack it again. Eventually it will not turn easily because its rotating against the dust shield. This is good and means you are getting somewhere. Eventually it will break free.
Be sure the opposite wheel is off or at least off the ground or the wheels will not turn. The problem is the rotor and hub corrode or fuse together. Hard to believe but that is all that is keeping them together. Three of mine needed the hammer treatment. The fourth came right off. A little antiseize might make the next time easier.
Some rotors have a threaded hole or two in the face. Insert the correct sized bolt into the hole and it will push the rotor off as you tighten it. Not sure if factory Ford rotors have them or not though. But if they do, it makes the job a LOT easier.
Also make sure you don't set the parking brake. This will make the rear rotors all but impossible to remove. You might also need to back the parking brake shoes off a little.
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