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it's cake, but i HIGHLY reccommend purchasing a ball joint press (NOT a pickle fork). you can find them on ebay for around $25. without it, you run a high risk of tearing the ball joint boot (which may be why yours failed again so quickly).
basically, you undo the upper control arm bolt from the center of the lower control arm. then, loosen the bolt that fastens the lower arm to the suspension cradle. press out the ball joint. remove the lower control arm bolt. reverse to install.
when installing, the ball joint will want to turn in the steering knuckle. you can use a torx to hold it, but this is a pain. since the ball joint pin is tapered, if you tap the ball joint into the steering knuckle with a hammer, it will stop turning so you can tighten it.
also, if you're replacing a rear, mark the location of the eccentric bolt before you loosen the lower control arm, otherwise you'll need to have your camber adjusted by an alignment shop. fronts are easer since the drive shaft's not in the way. you CAN replace the control arm WITHOUT removing the drive shaft.
the fronts take about 30 min. rears, 45min - 1hr.
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