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If there isn't a belt routing diagram somewhere under the hood, go to your local library and check out a vehicle specific repair manual to find this info.
You can also purchase these manuals at any major chain auto parts store (Pep Boys, Advance, Auto Zone, O'Reillys' etc.)
It sounds like you need to replace the serpentine belt when they get old they will whine and when they warm up alot of times it will quit and sometimes not but it sounds like you just need a new serpentine belt which runs your water pump,alternator,powersteering.
There is an idler pulley close to the power steering. Loosen the bolt that goes through the front of the idler pulley first. Then you will see the head of a bolt looking up at you. Turn the bolt clockwise to tighten and counterclockwise to loosen. The pulley is attached to the threaded bolt and it moves the pulley up or down as needed to adjust the belt tension. When the belt is replaced turn the bolt until the belt is tight. Remember to check the belt again after a few hundred miles. A new belt will stretch and loosen.
Should be the pulley underneath the power steering pulley. Loosen the nut, then back the bolt down the loosen the belt, tighten the bolt to tighten belt.
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