WARNING: This page is about a different car, the 2002 Mazda B4000, 2002 Mazda B3000, and 2002 Mazda B2300. However, it is still accessible from the selected car via links, so may be relevant.
Remove the drive belt.
Remove the power steering pump pulley, using Pulley Remover Tool 211-009 (T65P-3A733-C).