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Yes, what WD-50 said. I also have an '09 FWD Santa Fe, and I had to do this a week ago. There is a plug on the face of the rotor that will give you access to the star adjuster for the brake shoes.

Hopefully you have more luck that I adjuster was broken and my only option to remove the rotors (after trying unsuccessfully to thread in bolts to those 2 holes where the screws were) was to pry off the rotor and destroy the handbrake shoe hardware in the process.

Hope you have better results!
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