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The 2001-2006 Acura MDX has a special dealer-only rear wiper blade. Since you have to go to the dealer for the part, ask them for the procedure.
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The 2001-2006 Acura MDX's have a proprietary rear wiper and you must either go to the dealer for a replacement wiper blade or you can buy aftermarket "refill inserts" which is just the rubber blade rather than the entire wiper blade and frame.
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The wiper motor is located under the black plastic cowl below the windshield.
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It is under the cowl below the windsheild.
You just buy the replacement rubber from the dealer (a few bucks) and slide it in. It is a little tricky since the wiper does not fold out far from the window, but not too difficult. You cannot buy a complete arm that pops right in, like you can for the front wipers.
You need to get the wiper blade from the dealership. You can just replace the wiper rubber. It slides into the wiper assembly at a cost of about $5, or replace the whole unit for around $50 each. I replaced the rubber part on mine and it's great.
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Any Dealer has a rear wiper refill inserts. You can also find replacement full wiper blades (not just rubber) online. See sources and related links below for more information.