94' Ford Exployer Sprot track

Hello all i am new to this forum. I wanted to ask a question about my exployer sport trck. I noticed the power steering fluid is low, black , and smells burnt. I would like to change it instead of adding more...How can i acomplish this?
Anybody familiar with this year model? Is there a plug somewhere?

Thank You for taking the time. :popcorn:
Abel Estrada