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Q:How do you get universal joints out of the drive shaft?

A:Pry the c-clip out of the ends and press one end of the cross-shaft through the yoke until the bearing cup falls out the opposite side. Once the bearing cup falls out you tip the cross shaft out.

You can beat it out with a hammer and a brass drift but you run the risk of cracking the yoke. Unless you have a hydraulic press, your best bet is to take it to a machine shop and have them press the new bearings in. That will be a very inexpensive job.