Depending on who you ask the pinion angle is the angle of the pinion relative to the Crankshaft Centerline OR the Driveshaft. I prefer the Crankshaft but I have explained both procedures below.
To measure it, you will need an angle finder that has a 360degree face and uses gravity to pull the needle. These usually come with a magnetic base and are about 3-4" in diameter.
~If all the control arms have Factory bushings: Set Pinion Angle 3 degrees to 4 degrees downward.
~If all the control arms have Poly bushings: Set Pinion Angle 2 1/2 degrees to 3 degrees downward.
~If all the control arms have Solid bushings: Set Pinion Angle 1 degrees to 1 ½ degrees downward.