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First off... is your Explorer a 4x4 or 4x2?
If it is a 4x4 then you can do it yourself, but you will need a ball joint press to make the job easier.
I had them done on my 92... when I still had it, about 3 years ago... so it is a little tough to remember all the details. So the basics are to remove the caliper, rotor/bearings, dust shield, steering arm, axle, then the steering knuckle. From there you will need to press out the two ball joints.... and I stress doing both as you don't want to have to get back in there again. Then youu have to put everything back together in reverse order. Make sure you have a Chilton or Haynes manual before you start the job... look it over and make the decision from there. It really isn't hard to do, just a little time consuming.
The hardest part of ball joint repair depends on how seized parts are. On my Explorer, it only took an afternoon as everything came apart as it should. On my BII, I spent two Saturdays fighting to get one spindle off of the knuckle, then fought tooth and nail to get the ball joints to press out of the knuckle.
I would definitely recommend a manual. If print manuals are too old-fashioned for you, www.autozone.com has electronic versions of Chiltons manuals.
i did mine it took me a total of 10 hours to do altogather both side 6 on one and 4 on the other it make i go by easier if you have a mallet in one hand and a beer in the other lol drink hit drink hit ect. the job can be a pain in the u know what when the spindal is stuck it took me one one side an hour to get the spindle off
steps
1. remove the hub and rotor
2. remove nuts and spindale
3. remove drive axle (4X4) only
4.. remove chamber adjustment
5. remove nut off of lower ball joint. (this is were a sawall comein handy mine was jamed and could not pound out so i cut the lower ball joint shaft and removed the axel arm then pound with more swinging room)
6. pressout ball juins and put in new ones
7. install is opisite
i recomend geting the haynes book for 91 and 92 explorers has a step by step to do the job i would not have been able to do it with out it GOOD LUCK just make sure everything is tight as hard as you can get it ecpecily the balljoint nuts and spindle nuts
And let me add an important notice for 93-94 Explorers with 4WABS. You SHOULD at least disconnect front ABS sensors' terminals after removing rotors. Better remove sensors, but this could be tricky. Otherwise you may got your ABS system damaged.
Of course, on pre-93 Explorers this step is not applicable as they don't have front ABS.
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