92 F250-rebuilt inline six

I need to remove starter,have searched many posts but have not found anything to answer my question. Are the mounting bolts accessed from under the vehicle,if so how? I started trying to remove the nuts for wire connections from above and it took me a half hour to get one off. So i moved underneath the truck and tried and i could not reach the starter well at all (im 6 feet tall with normal length arms).i have plenty of socket extensions and socket joints as the posts i read mentioned,but how do i get close enough to use them?

Thanx,
Donno