1994 Chrysler LHS New Starter

Problem started after Chrysler dealer fixed re-call notice on shift lever. When the iginition key is turned I get a clinking noise. I sometimes have to turn the key several times before the car will start.
At first I thought not enough juice was getting to the starter so I cleaned off the battery terminal and the problem still exists.
Can someone please tell me the best way to install a new starter? Does the crossmember have to be removed? Thanks for your help!