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Inside the door under the latch.
Spray oil on it through the door and it will stop.
The door switch is bad. I have replaced the drivers side door switch on mine for the same reason.
because your car is broke
The door ajar warning will come on when this happens. Switch is inside door. There is a way to bypass the switch at the module.
Ajar is the term for a door that is slightly open.
OK on the Mazda B4000, make sure the seat belts are retracted and the ends on the doors are facing up. If they are not up, it will cause the rear doors to not close all the way and the stupid light stays on! you can also use wD40 and spray the locking mechanisms ( all 4 doors) John
The car beeps to let you know your door is open so you don't drive away while your door is open or ajar
The "Door Ajar" warning means your door is not shut all the way.
I called any dealership parts department and not only will they provide a picture they also provide instructions...
look on the inside of your drivers side door it will tell ya if not repost the question and ill check mine
The door ajar switch is part of the latch, inside the door.