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Changing out the front rotors on a BMW 650i due to them being worn and causing some steering wheel shake when the brakes are applied. Shaking when braking is a sure sign that the rotors have damaged areas on them as it causes the brake pads to grab the rotors irregularly. This is a super simple DIY and takes minimal tools...the hardest part is getting the brake calipers off, but even that is not very hard if a dead blow hammer and a breaker bar are used.