Removal Procedure

Remove the passenger seat from the vehicle. Refer to Seat Replacement in Seats.
Pull the carpet back to gain access to the sensor.
Remove the nuts (2) retaining the yaw rate sensor/lateral accelerometer (1) to the vehicle.

Fig 1: Yaw Rate Sensor/Lateral Accelerometer, Nuts & Electrical Connector

Courtesy of GENERAL MOTORS CORP.

Disconnect the electrical connector (3) from the yaw rate sensor/lateral accelerometer.
Remove the yaw rate sensor/lateral accelerometer from the vehicle.