2002 Hyundai Accent Greass gomes from axles

That means the cv joint dust boots are torn, youll need to replace the axles.
You'll need a socket large enough to remove the axle nut, and a tool to break the ball joint free. Then just pull the strut rotor and all outward until the cv-joint clears the knuckle, I would change the whole shaft, Reanufactured axles are pretty cheap, and it's quicker and easier than messing with seperating the old joint! Use a bucket under the inner joint to catch any tranny fluid that might leak out! If you have trouble with the inboard joint, use to large flat blade screwdrivers, or prybars and pop it out of the differential.
This should be covered if you get back to the dealer BEFORE you hit 100,000 miles. It IS a drivetrain part.