Here's the technique I use to clean squeaking disc brake pads and rotors when they are contaminated.
3 things you need: disc brake cleaner, a clean rag and some very fine grit sand paper or wet and dry paper.

-Remove the wheel then the pads.

-On one pad at a time closely spray disc brake cleaner onto the pad to loosen the dirt and oil.

-Wipe the freshly sprayed pad back and forth on a clean rag to remove the dirt that you've loosened.

-Spray and wipe the pad again until the amount of dirt being wiped on the rag is minimal.

-Put the wet and dry/sand paper on a flat surface and rub the pad gently in a circular motion to remove some material and bring out the fresh layer underneath.

-Wipe away the dust on a clean section of the rag.

-Thoroughly spray both sides of the rotor with disc brake cleaner then wipe dry with a clean rag to remove the dirt and oil. Repeat this process until the area of the rag used to wipe the rotor shows no signs of dirt.

-Re-install the pads and wheel and check the caliper alignment.

-Bed the freshly cleaned pads and rotor back in by performing several stops on the road....cycle at speed and brake to allow the bike to slow to walking pace.

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