You can sometime just pull it off but sometimes you will need to take a screwdriver and push the brake pad back on the caliber piston side. This will force the piston back and allow you to remove the caliber. After you remove it you will need to compress the caliber piston fully back in order to allow room the install the new pads and get them back on the rotor. Sometimes you can fully compress it while the caliber is still installed. On some vehicles like Honda you need a special tool in order to compress the caliber. Most auto parts stores will lend you the tool if you buy the pads from them. Be sure and loosen the master cylinder fill cap to allow the brake fluid to expand in the master cylinder. Clean everything off with spray brake cleaner before installing the new pads and clean the new pads throughly. Be sure and install pads in pairs. Do both front wheels or both back wheels not just one.
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Get in there with a screwdriver and push the piston back in, then it will come off
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