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Flip each rack bone-side up. Slide a butter knife under the thin membrane at one end of the rack, grip it with a paper towel, and pull it off in one piece. Pat both racks dry with paper towels.
In a small bowl, combine the brown sugar, smoked paprika, kosher salt, black pepper, garlic powder, onion powder, dry mustard, and cayenne. Brush a thin, even coat of yellow mustard over both sides of each rack, then press the dry rub firmly onto all surfaces until fully coated. Let the racks sit at room temperature for 30 minutes, or refrigerate uncovered for up to 12 hours.
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