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It has a belt. The general rule for Nissans is 4 cylinder engines have a timing chain, and 6 cylinder engines have a timing belt. The 2002 Frontier follows this rule. Also note that most Nissan engines are "interference" engines, so follow timing belt service reccomendations.
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The timing marks on a Nissan ZD 30 diesel engine can be found on the front of the flywheel. The timing marks are scattered around the outside of the flywheel.
The 1996 Nissan Maxima timing marks can be found on the main pulley, on the front of the engine. The timing marks will be scattered around the outside of the pulley.
http://www.justanswer.com/questions/2d6n5-set-timing-marks-Nissan-qg-9
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I recently changed the timing belt on a 97 Nissan Pickup. There is a small hole on the cam gear. I had to turn the cam gear until that hole was on the right saide of the center bolt and flush with the top edge of the cylinder head. This was on a 2.4 liter engine. Hope this helps.