Well I had a problem fixed I discussed on here about pulsating brakes which the problem was fixed the rotors needed to be turned. Anyways I hear there's a rear airbag sensor near the right wheel I believe, now did that need to be removed to take off the rotors? I ask only because today when driving I heard what I thought was road debris kicking up under the car but then this light came on and I may suspect that was the sensor falling off. I plan on taking it to Acura next week it just makes life easier with an idea of what it may be.

 

a little confused on your description...

as there are NO SRS sensors in the wheel well. (SRS=airbag)
there is, however, ABS sensors and wheel sensors in the wheel well. you do not have to remove rotors to see these sensors. they are above the rotor and hanging on the control arm.