1996 Chevy S-10 Right side upper ball joint/control arm r

I am trying to replace the upper ball joint on the passenger side of of my 1996 Chevy S10 (2w, 2.2L, man).
The old one ripped out of its socket.
The only way I can see do to do this is by removing the upper control arm, and drilling out the rivets which fasten the socket to the control arm. I need some instructions (my Haynes manual is less than clear) on how to remove the bolts that run though the frame and pivot arm.
1) there are lock washers on the bolt heads(wheel side, rusted of course) which need to be removed if the bolts are threaded all the way through.
2)if the bolts are supposed to just slide out, how can I loosen them up? There is not enough room on the engine side to knock them free.

Thanks,
erp3 (the novice)