Brick,
I'll tell you what I would do to make life easier. If you remove the cotter key from the clevis pin that connects the gear assembly to the steps and then remove the four 1/4 - 20 nuts and lock washers that hold the entire assembly to the steps. Of course you should follow all the safety procedures and all those things people tell you about as disclaimers.
Once the two cables are disconnected and the clevis pin and nuts are removed you can sit comfortably at your workbench and start dis assembling the motor gear assembly.
There will be three cap screws holding the motor to the gear assembly. After you remove the motor, test it to see if the drive gear is rotating. If the gear is rotating, assume for a minute that the motor is okay and take the cover off the gear assembly and check the gears in there.
Of course if the gear doesn't rotate or if is is jerky and skips disassemble the gear housing that is part of the lift motor and see what is bad.
If it is the big gear in the gear housing, you can buy a kit to rebuild the gear assembly. If it' the gear in the motor assembly you will probably need a new lift motor. There are several different motors that have been used and I wish I knew where you can get one for $30/40. Most are in the 50's.
There are several posts regarding what the numbers are from AZ, NAPA and others. Just make sure that the motor you buy is an exact duplicate for the one you are removing.
Chris Bryant has great info on here and his website. I have written a couple that I think are very accurate and there are others. Search back a couple of years.
Judging from age of your rig the lift motor will have an aluminum gear housing attached to the motor and there are several different ones that were used by Kwikee. If the gear housing that is intrigal to the motor is phenolic it is from a company in Oregon and you can buy directly from them at a reduced rate.
I don't have the print outs of who the company is or the guy in parts to talk to but it is in several posts on the forum. I just want to reiterate that removing one clevis pin and four nuts and having the entire assembly out on your work bench makes it so much easier than laying on your back working overhead in a cramped space.
Good luck and let us know what happens.
"I travel not to go anywhere, but to go. I travel for travel's sake. The great affair is to go". R. L. Stevenson
David Bishop
2002 Winnebago Adventurer 32V
2009 GMC Canyon
Roadmaster 5000
BrakeBuddy Classic II