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Do worn brake pads cause brake rotors to become warped?

I have a car that is less than two years old. The Rotors were completely warped according to my mechanic. He said that if my brake pads were not worn down so badly that the rotors would not have had to been replaced.

Does this make sense?

Fit new brake pads and discs

Are your car's brake pads and discs worn? It's easy to save money by fitting new ones yourself. Haynes shows you how.

How-To Replace brake pads for disk brakes.

A video tutorial on how to change worn brake pads for disk brakes.