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that was the thing i disliked most about the car...
best solution is to change them-
i put cad plated drilled and slotted on mine and they look great- no more rust!!
to remove the rust, you have to drive the car after washing and apply the brakes enough to warm up the rotors so that they dry out. then the pads will wipe most of the rust off. but the only way to get rid of all of it is to change rotors
and if you're looking for yet another option, talk to sherwin (s2ki: docofmind) who did my brake kit at an awesome price. on top of the BBK you see below, he sells direct replacement rotors, slotted, drilled, and cadmium plated to avoid rust.