Found this online:
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https://www.youtube.com/watch?v=UcSHy4qmFb0
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Says it's for a 1999 - am I right in assuming that this information should still apply to my 2002? Particularly since mine has the conventional part-time 4wd?
Yep, it still applies to yours.
As noted, you will need a way to push the piston back into the caliper to fit the new pads on. This works fine: http://www.harborfreight.com/disc-brake-pad-piston-compressor-68973.html. You'd only need to bleed the brakes if you open the lines, or if it feels spongy in general.
Changing bearing optional, but as suggested, may as well if your maintenance schedule warrants it. It's a good time to re-grease them, too. Now is also a great time to change any worn lug studs, since they—like the rotor—can't be installed when the hub is on the truck.