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Originally posted by AcsRcool check your alignment too. . .
Normally that can be find out by driving and letting go of the steering to see if it pulls to the right or left. Shaking when braking is normally warped rotors. Brake pads may affect it too.
Machining the rotors ain't cheap, but it's a lot cheaper than replacing the entire thing. You may just get them replaced if you've had them for some time.