Removal Procedure

WARNING: This page is about a different car, the 2003 Cadillac CTS. However, it is still accessible from the selected car via links, so may be relevant.

Turn OFF the ignition.
Remove the rear shelf trim panel. Refer to TRIM PANEL REPLACEMENT -- REAR WINDOW SHELF in Interior Trim.
Disconnect the yaw rate sensor electrical connector.

Fig 1: Disconnecting Yaw Rate Sensor Electrical Connector
Courtesy of GENERAL MOTORS CORP.
Remove the 2 yaw rate sensor mounting nuts.
Remove the yaw rate sensor.

Fig 2: Yaw Rate Sensor Mounting Nuts
Courtesy of GENERAL MOTORS CORP.