Right on the side of the throttle body
http://www.f150online.com/forums/members/sscully-albums-diagrams-1999-2003-my-picture38006-iac-location.jpg
tough to read but the location is circled. This is for a 5.4 liter
SOURCE: IAC control valve. Locato\ion 2002 ford escape
If it's not idling and has problems starting, it's probably the IAC motor. It's located on the throttle body. Follow the airfilter box all the way to the engine, where the rubber flex hose attaches. The throttle body should be the first aluminum part you come to. Attached to the side you'll find small little aluminum part with a small wire harness attached. Unplug it, take the IAC motor off and clean inside with carb cleaner. This should fix the problem with the idle.
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