There was a really nice note about removing the rotors somewhere on the forums...
I tried it and it was really easy and mine were on solid for 14 years and the center was really rusted and they would not come off even with banging....here is the easy way..

doesn't work for the back but them come off hitting them with a mallet and using a piece of wood.

Front removals
remove the caliper mounting bracket
Get two long bolts slightly smaller than the bracket hole diameter - about 3 inches long.
Get two nuts and a large flat washer for each bolt. Place bolt through caliper mounting bracket from center of car. Place washer and screw first nut on....it will be the brace on the outside edge of the caliper bracket. Screw second nut on bolt - it will put pressure on the rotor itself.

Thread the bolt all the way thru the first nut until it touches the rotor. Head of bolt should just touch the rotor and first nut and washer should hold it tight in place against the rotor. now turn the second nut out towards the rotor. Do both nuts on both bolts evenly. Spray oil on center rotor hub. Turn nuts slowly and give it time....the rotor will pop right off suddenly. Works every time. Mine took a lot of force on the nut to pop them but they did pop off! MUCH better than using a mallet or hammer or the parts.

Easier than you think...you'll get the idea once you start doing this....does not mark or hurt the rotor either.