Remove calipers, brackets, etc like mentioned above. Then remove the whole knuckle off the car.

You'll have to remove the four bolts behind the rotor. Get two different bolt that are the same size diameter as the stock bolts but wayyy longer ones that goes behind the rotor. You put the new bolts across from each other from a criss-cross direction then start hammering it away til the rotor assembly falls off from the wheel bearing. I used a air hammer instead of a steel head hammer to get the job done faster. Hope this helps.