Single rear wheel - Remove both caliper bolts.. remove caliper and pads.. remove rotor.. they are usually rusted on pretty good.
Rear Dually- the rear rotors are mounted with the hub assembly.. you must first remove the rear axles.. then remove nut holding load on bearings.. then the rotor and hub assembly will come off as one unit.. removed rotor from hub..
It should slide right off after you take off caliper
if it wont you will have to beat it with a hammer
SOURCE: 2006 dodge ram 3500 dually
I beleve all heavy duty trucks would have a axle nut to adjust/hold it in.
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