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Remove the calipers and hang them so there is no stress on the hoses. Calipers mount with two bolts that screw into the caliper pins which should move freely.
Then remove the caliper mounting bracket which is held to the axle with two bolts. Once the caliper mounting brackets are off the rotor should (in a perfect world) slide off. Frequently they do not. I did my rears on Tuesday and the only way the rotors came off is with a 8 pound sledge hammer. The rotors were the originals and the truck has 95k miles on it.