If you have never done a serpentine belt try this:
Take a picture(s) so you can see which way it runs over each pulley.
Take a long socket wrench and attach it via a socket or in some cases the end of the wrench into the tensioner pulley and you can overcome the spring and remove the belt.
If replacing with a new pulley do so.
Put new belt on all pulleys except the tensioner pulley.
Use the same wrench to pull the tensioner pulley loose enough to put on the belt. Don't get a finger between the pulley and the belt in case the wrench slips.
Done.
There are various posts on replacing belts but I didn't see one for the V-10.
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