you will find two bearings on the pinion, the in bound is a strip down job, and the one you have asked about can be accessed from the prop yoke, but i personally have never done it so can't comment, chances are if one has gone so has the other.
*edit*
i have just looked at your signature, you have a 2.5 can you confirm the rear axle? i believe you have the chrysler 8.25 the information i have listed above is only relevant to the dana 35c.
peter henry