That is all pretty cheap if you do the work yourself.
Here is a go-by for the u-joint:
How to Change the Universal Joint in a Mustang | eHow.com
and for the rotors i'm too lazy too search so:
loosen wheel lugs
jack up car
place jack stand
remove wheel and lug nuts
Remove two banjo bolts
Take off caliper
(good time to replace pads while you are in here, but skipping those steps for now)
DON'T let caliper hang!
Remove caliper bracket bolts
Remove caliper bracket
Pull off rotor. (may need a slight tap with a rubber hammer)
Clean new rotor of all grease
Put on new rotor.
From there take the caliper, take out the brakes, use a c-clamp or a brake tool to put in the piston, put the old pads back in. (good idea to re-grease them)
Put caliper bracket back on
Put caliper back on and grease the banjo bolts
Put wheel back on
Drive off the jackstand while doing one wheeled burnouts in your grandmothers garage.
Don't forget to hit the cat.