Removal Procedure

WARNING: This page does not describe the selected car, but rather 8 other vehicles, including the 2004 GMC Yukon XL, 2004 GMC Yukon, 2004 Chevrolet Tahoe, 2004 Chevrolet Suburban, and 2004 Chevrolet Avalanche. However, it is still accessible from the selected car via links, so may be relevant.

Remove the passenger seat from the vehicle. Refer to Seat Replacement - Front Bucket in Seats.
Pull the carpet back to gain access to the sensor.
Remove the nuts retaining the yaw rate sensor/lateral accelerometer (2) to the vehicle.
Disconnect the electrical connector (3) from the yaw rate sensor/lateral accelerometer.
Remove the yaw rate sensor/lateral accelerometer from the vehicle.

Fig 1: View Of Yaw Rate Sensor/Lateral Accelerometer & Electrical Connector

Courtesy of GENERAL MOTORS CORP.