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The battery compartment is on the inside of the handle where it meets the swing arms. It should be on the left side. You need to pry it open with a key. Instrustions found on mattel web site.<br />
all you have to do is put the name of the swing like fisher price cradle swing manual in the goolge search bar. it will bring up different websites click on the one you need and you can download your manual.
You need to remove the center of the part the connects to the chair. Use a thin screwdriver to pry it out a little, slide the screwdriver into the center and then pry each of the two tabs outward from the center. As you unhook it, you will be able to pry it out and then the attachment mechanism will pull off.
I had the exact same problem the motor worked fine but when we took it apart the gear inside was stripped. i hate saying it but best thing you can do is buy a new swing. i personally recommend http://www.toysrus.com/product/index.jsp?productId=3420749&camp=PPC%3A204318389. its a little bit high but so worth the money. my 8mo old baby girl loves it. it also has a AC adapter so no more batteries and an ipod hook up as well so you can pick what music you want your baby to listen to. best of luck.