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Remove the nut holding the yoke/flange, remove yoke/flange, remove four bolts holding bearing retainer in place, use a small screwdriver to get behind snap ring and pull bearing and snapring out as one piece. Just be careful as the output shaft will want to fall. It shouldn't move far enough to knock anything out of alignment, but be careful. There is also a thrust washer behing the bearing that may come out with it...