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Generally on the santa fe it is located just behind the crankshaft pulley/harmonic balancer (the pully lowest in the engine compartment driven by the drive belt).
I think you mean the harmonic balancer. Thats the pulley on the crankshaft the serpentine belt runs on. I doubt anything else would be damaged as long as the crankshaft is ok other than the belt.
Parts stores sell a "harmonic balance pulley remover" for around 15-20 dollars. Much like a steering wheel puller, it's a gear puller made to remove the harmonic balancer with engine in car.
It sounds like the harmonic balancer came apart. This is a two part pulley seperated by a rubber gasket. The part itself is much less expensive at auto parts stores than the dealership but you may need to wait a few days for it to arrive as most stores won't have the part in stock. A picture of the harmonic balancer is below:
use a pipe chain to hold it while you break off crank shaft bolt and while your sliding it off the shaft be leary oof the wood ruff key thats in line with the pulley and its shaft.
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