The proper tool is 'gland packing wrench ST355000031' according to the FSM, also known as 'the biggest pipe wrench you can find'.
To remove the bearings you need some sort of drift, about 6-8" long and preferably made of soft metal (eg. copper). Using a hammer with the drift you can tap the bearings out, but be careful not to damage the walls of the inner hub. If you look into the hub you'll see cut-outs where you can position the end of the drift on the races.
Separating the rotor from the hub can be a bit of a chore. Make sure you take out the bolts first
If you don't have access to a press then your only option is a bucketload of PB blaster on the areas where the rotor meets the hub, let it soak, give it a few good whacks from a rubber mallet and then repeat about a million times over. If you still can't get it to move then you might have to resort to tapping a chisel in between the hub and rotor but I wouldn't recommend that as you could damage the hub.
The best option is to find a press, it will save a lot of wasted time and effort.