Can I replace my rotors at home?

I have a 96 Ford Mustang. Everything is manual, no automatic controls whatsoever. My rotors are rusty, making a slight scraping (albeit annoying) sound while driving. I think I need to replace them, but the mechanic said they're not causing any damage. I don't have access to power tools or car-specific tools. Can I do this repair at home (no prior knowledge) or would this be a job for a mechanic? Is the repair even necessary (just deal with the noise)?

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