If you do not know how to use a brake lathe, i would recommend against machining your own rotors at least before you have some practice on others. It is VERY easy to mess something up. You have to have everything set up perfectly or else that imperfection will get transferred to your rotor.
You said you have access to a shop, so if you know how to use lots of shop tools (you HAVE to know how to do measurements down to .001") and such and still want to try, here is how.
>>>>WEAR SAFETY GLASSES AT ALL TIMES AND WEAR A PROTECTIVE MASK WHENEVER THE MACHINE IS ON<<<<
Lift up the vehicle, take of the wheel, and spray everything down with brake cleaner. Torque the lug nuts to 100 ft/lb using conical washers between the lug nuts and the rotor. Mount a dial indicator somewhere in the wheel well so it can reach the rotor. Set it up so the rod on the indicator is pushed down, but not too far, so it has play room. Spin the rotor to find the high and low spots. Find either the highest or lowest spot and zero the dial indicator, and then find out how much lateral run out the rotor has. I forgot the maximum allowed lateral run out, but i will check it tomorrow. Most manufacturers recommendations are between .002" and .008".
Measure the thickness of the rotor using a rotor micrometer, if available, or a micrometer. If you can see any deep groves, measure in there. If you cant, measure in 6-10 different spots all over the rotor. Find the biggest thickness variation. Again, i forgot the specifications but i will look them up tomorrow.
Now, if the lateral run out or thickness variation does not exceed specifications, and you cant physically feel ridges, DO NOT machine those rotors. Those rotors are good and you will only be making them worse by cutting them. Tires may also be a cause of vibration when braking if they have different patterns on them or are worn down differently. Otherwise, continue.
Now you have to check the run out of the spindle on the brake lathe. Mount a dial indicator somewhere so it can reach about halfway on the spindle and check for run out and check for excessive run out. Now mount the rotor using the the cones and adapters as recommended by the lathe and tighten the spindle nut. DO NOT DROP THE ROTOR ONTO THE SPINDLE. Mount a dampener on the rotor. Not using a dampener could cause the rotor to "sing" as its being cut, and the lathe will cut lots of ridges from the vibrations into it that may be very hard if not impossible to get out, wasting the rotor.
Now position the bits close to the surface all the way inside the rotor. Make sure the lathe is in neutral. You will be using only the N and the R, which stand for neutral and rotor. If you set it to D, for drum, one of those bits is going to go right into your rotor and ruin it. Some lathes may be different so make sure first. Turn on the lathe and move the bits in until they barely scratch the surface of the rotor. Turn off the lathe and back of the bits. Loosen the spindle nut and rotate the rotor 180 degrees without turning the spindle. Tighten it back up and do another scratch like you just did but right next to it, not over it. The two scratches should be side by side. If they are not side by side, something is not mounted correctly.
Once it is set up correctly you can begin the cut. Try to find the lowest spot on each side of the rotor and move the bit into it until it touches. Note the measurement and zero out the control knob if it can be, if not youll just have to remember where youre starting at. Do it for each side individually as each side may have a different low point. How much you want to cut depends on how bad the rotors are and how much you can cut from them. Just make sure not to go past the recommended machine to specifications, which is usually .03" bigger than the minimum thickness (again ill check tomorrow). You also want to cut both sides as evenly as possible. You can cut a little more on one side than the other if one is messed up more, just dont cut.02" from one and .1" from the other. Also, dont cut only side at a time. Even if it one side doesnt need to be cut anymore but the other does still, cut .002" from the side that doesnt need it. Pressure from only one bit will cut it unevenly. Any less than .002" and the bit will not cut properly and will just slide instead.
Place the bits all the way in (towards the center of the rotor) and turn on the lathe. Move the bits to your zero measurement and move them in however much you are going to cut and start the lathe by setting it to R (rotor). The lathe will now start cutting on its own, but DO NOT walk away and just let it cut on its own. If something happens (dampener snaps or something comes loose for whatever reason) you want to stop the lathe asap to save your rotor.
You should notice the color or the rotor changed. If there is any variation in color, additional cuts are required. The darker spots are spots that were too low for the lathe to cut. Repeat the steps to cut the rotor, again making sure not to cut too far.
Once the rotor is properly cut, with lathe still turning apply 150-grit aluminum-oxide sandpaper to the rotor with even pressure for 60 seconds to both sides. Use break cleaner to clean the rotors and you can now re install them on the vehicle.
Hope this helps you out and good luck!