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If the rotors are worn to thin I've seen a set off new pads punch through the rotor locking up your tire. If they are indeed worn as you say replace them even if it is with a cheaper rotor from say Autozone or something. Changing pads and rotors are very easy and drums are not that bad either but do as Ed S said since you have not done it before, meaning remove both tires and drums and do one side and use the other as a reference.
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