Here is advice I followed when mine got stuck. The part about tapping on the lug-nut studs is what worked for me. And, lots of anti-sieze when putting it back together. (I can't find the original poster to credit for this):
1. If you DON'T plan on changing your rotors (only for re-surfacing):
let some penetrant (Liquid Wrench, PB Blaster) soak on the lug nut studs for as long as you can (where the studs meet the rotor). This is the location of most of the trouble. If you plan on keeping the rotors, don't get any on the "pad area" of the rotor.
Remove the wheel, replace the lug nuts back on the bolts for a couple of turns (so the top of the bolt doesn't show through the nut) and tap the head of the nut swinging towards the car.
don't use a hammer on the pad-area rotor. You can medium-tap the circumference of the center portion of the rotor as you spin it, also. It takes patience (My 1985 BMW 325es rears took me 2 hours). Editor's note: use a soft-faced mallet.
1. If you DO plan on changing the rotors:
Follow the steps above, but with increasing force. If it is STILL stuck, crawl under the car (which must be properly on jack stands), face outward and spin the rotor while WAILING on the outside edge of the rotor with a mallet/hammer (outwards). It WILL eventually come loose.
Just try not to have any part of your body under the rotor when it pops off (usually you can tell it's about to go). Editor's note: use a thin coat of anti-seize on mating surfaces between hub and rotor to easy later disassembly.
Hope this helps.
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