The splined washer, cam, and thrust washers just pull off. They are held in place by a "C" clip around the axle shaft. Do you have the 2 3/8" axle nut socket to remove the wheel bearing adjusting nut (it can be hard to find). You will also need a torque wrench for re-seating this nut to correctly seat the wheel bearings otherwise you will ruin them if not correctly torqued down. To reinstall the plastic cam you will need to make a plastic cam installation tool out of a 1 1/2" pvc plastic pipe you cannot install the cam without this.
If getting new rotors I would recommend getting new wheel bearings (without the seats as the new rotors will have them already pressed in. You will also need new grease seals (1) per rotor, as well as grease to pack them.
Please read the info in my Explorer Maintenance sig line. It covers this subject in detail. Although the procedure is straight forward, brakes and wheels are not components to skimp on. They require special tools and accurate work too ensure they will perform correctly.