To replace a rear brake rotor, do the following:
Loosen lug nuts
Jack and support vehicle
Remove 2 caliper mounting bolts from back side of axle
Lift entire caliper/bracket assembly off and support out of the way (keep tension off the brake hose)
Slide brake rotor off hub
If the rotor is stuck on the hub, spray the hub bore of the rotor with penetrating oil
Gently tap the backside of the rotor (in the opening created by removing the caliper) to loosen it. If it does not release with light tapping, do NOT force it, as you may damage the parking brake.
If still stuck, and it is an original rotor, there will be two small threaded holes in between the stud holes. Insert two 12mm bolts into the holes and slowly and evenly tighten the bolts. The bolts will push the rotor off the hub as they are tightened into the rotor.
On installation, tighten the caliper bolts to 65 ft/lbs