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Embedded devices boot process vs PC

I am trying to dive deeper into the boot process and understand how everything works. I have understanding but I am not sure I am right. I have already found a lot of great examples like that What ...
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zImage install on Raspberry Pi 2

I have precompiled Android Kernel and modified it. After builduing I got an zImage. The Question is how can I install and boot the zImage on my raspberry pi 2? I'm using a SD-card.