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I assume you mean that you have a little surface rust on the face of the rotors after washing the car or recent rain. If that's the case, just drive the car. The first time you apply your brakes to slow down for a stop sign, the break pads will take the rust off.
It's hard to not answer this and sound like a dick. But seriously, wtf?
There are solvents that clean rust, naval jelly for example, but are dangerous to other items like the wheels. You could always remove the rotors, sand and paint.
Honestly to get it done right... Dont listen to these guys... There leading you in the wrong direction... Follow my instructions very carefully...
1. buy a sponge...
2. jack up the car....
3. remove the lugs....
4. take the wheel off....
5. remove brake caliber...
6. scrub the **** out of the rotors...
Thats about it.... That should keep your rotors nice and clean.... But just remember to do it everytime it rains or you wash the car or it wont last...