balljoints

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whack socket that ball joint goes into joint will drop out with out damaging ball joint which might not be your concern at the moment but might be in the future,
 
All steering ball joits with the exception of the swivel ball joints which are pressed into the end of the axle yokes are straightforward to remove with a splitter or good whack with a hammer, as others have posted. Just make sure the new ones go back to the position of the one's you have removed and get the wheel alignment checked afterwards.
 
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