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How do I change the Idler Pulley in a 1995 Acura Integra LS 4 door?

I can hear the bearing are going out on it and it's located behind the power steering pump. is it also bad to drive this kind of car with the power steering disconnected?

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I'm assuming you mean the accessory belt.

You have to release the tension on the belt.
If the belt is old have a new one ready.

Most serpentine belt tensioners have a 3/8 square hole on the middle.
You put a long breaker bar on the hole and move it in the direction that loosens the belt.
This is another car but the same idea.
http://www.youtube.com/watch?v=Wg1AX77xEBQ

With the belt off...
Turn by hand every item driven by the belt, listening and feeling how they turn..
One of the idler pulleys is on the belt tensioner. It has a spring to keep the belt tight.
You can buy the whole assembly, if the tensioner is frozen or rusted out.
This would assure correct tension and maybe save trouble in future.
The bearings on the water pump alternator and power steering would all have the correct load.
You can drive without power steering but that's often the same belt as the water pump. You can't drive without a water pump.

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Same way as for the 2 door model.

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You are required to determine the specific positions of the pulley and how it's supposed to flow. You can use the help of the diagrams on dealerdirectparts.com or consult a well trained mechanic for more assistance on this.

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