My 200 S10 shakes uncontrollably at times when braking. on 2000 Chevrolet S10

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I had the front wheels off and it seems the caliper is not completely disengaged. Will cleaning the caliper pins solve this? Do I need to replace the pads and rotor at the same time? Thanks
(1) Answer
I had the same symptoms on my car, turned out to be warped rotors. You can remove them and have them resurfaced or you can purchase new ones. Also if your pads are beginning to screech or indicate that it is time to change them I would do so as well.

Usually your break piston presses against the pad and the pad stays consistently close to the rotor, I am not sure by "caliper is not disengaged"