How to check brake pads/rotors?

I have a 1996 2.4 L 2wd. It ain't fancy. I have been having some grinding on the brakes for a while, but have not had the chance to take it in (or I have been too cheap). I do not have a manual for the truck.

Is there an easy way for me to get underneath the truck and have a look at the rotors/brake pads to see if it is just a pad issue or if I will need to replace my rotors? I am a pretty narrow fellow, so I can get under it without ramps/jack stands, but I have limited mobility under there. I have (probably obviously) not ever looked at brakes before so I am pretty ignorant here.

Thanks for any advice you good people have to offer.

 

Take the wheel/s off is the best way.

Welcome to TW!

 

Downloadable service manual