As the brake rotors are getting gripped by the brake pads each time you slow down/stop your car, it is normal for both of them to wear out at some point and minimize braking efficiency.
So, replacing them periodically is a good idea if you want to stop short enough to avoid a collision. Here you will see how to remove the brake rotors of a 2011 Scion tC. Of course, to reach the rotors you will need to remove the wheel and brake calipers so you will need a complete toolbox, two M8 - 1.25 x 20mm bolts and a jack for the job. Here are some guiding steps:
Place the car on an even surface and jack it up. Don’t forget to assure its position by engaging the parking break before and put some jacks stands under it after you lift it
Remove the wheel
Unscrew the bolts fixing the brake caliper to the wheels fusee and remove it
The brake rotor has two threaded empty holes on its outer side, so place each of the two M8 bolts in them
Use a ratchet to gradually screw the bolts
The brake rotor will eventually pop out so be careful.
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