2004 Acura MDX removing front and rear rotors

First, make sure you have the right tools.
You need 12mm, 17mm, 19mm sockets; large hammer; impact driver; #3 phillips bit and piston compressor.
Take the wheels off, use the impact driver and hammer to remove the two screws holding the rotor, remove the 2 bolts that hold the caliper, remove the 2 bolts to remove the brake pad's bracket, remove the rotor, you might have to use the hammer; compress the caliper's piston and assemble in reverse order.
Pump the brake pedal before you start the car.