EUREKA 1784 B?

What is the proper procedure to remove motor from my canister, do I need to release the hinge axis pins that the step start pivots on, to axcess the two screws still holding the middle canister section to the bottom canister section that are located behing the step start hinge axis pin? If so How do I do it without damaging the plastic step start parts that the seemingly one time/one way installation pin is pressed through? My motor is making a grinding noise and starting to make possibly smell, thats why I want to look at it, assuming I will need to replace it?