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The same way you do on a Freightliner, Volvo, Sterling, International, etc. If you don't have the certification, it's illegal for you to do this. Your truck should have automatic slack adjusters... with the truck aired up, press the brake pedal all the way in a couple times. This will cause the automatics to adjust for you. That is all you can legally do as far as brake adjustment goes... anything else is up to a tech.
What else can I help you with?
How many hours does it take to change the brakes on a 1993 kenworth?
As long as it takes. You didn't specify a model (remember, Kenworth makes Class 5 through Class 8 trucks), you didn't specify a brake system (S-cam air brakes, hydraulic brakes, hydraulic disc brakes, air disc brakes, air wedge brakes, or air piston brakes), and we don't know your level of technical experience.
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