'98 320 brake rotor removal

[Dennis Lines]

I could use a little help here folks. I need to replace the rear pads and rotors on my '98 ML320. From reading other posts I think I can handle the pads. However, I haven't got enough information to feel confident about removing the rear rotors. When I remove the wheel I notice that in addition to the five threaded holes where the lug bolts attach that there is a small flat #5 allen head bolt which I assume needs to be removed to get the rotor off. After that I'm stuck. Does the rotor just pull off when this small bolt is removed? Does the large nut in the middle of the rotor need to be taken off or does the rotor come off around it? I assume there is a small drum type of brake shoe inside the rotor that the emergency brake engages so the E-brake must be off to get the rotor off. I've read some posts about whacking the rotor with a hammer. I certainly can't whack it from behind because there is a thin metal shroud protecting the rotor. Whacking it from the front I guess may just help dislodge the rotor. Anyway, help and or photos would be greatly appreciated.
Thanks