If you're referring to the 4.0 I-6, there is an idler pulley located directly under the air conditioning compressor pulley.
However, tension is adjusted through the power steering pump. You will have to loosen the two bolts behind the power steering pump, two or three bolts which attach to the power steering bracket, as well as the one under the front of the pulley.
There is also another bolt under the driver's side of the power steering pump. This one actually controls the belt tension
Read more: http://wiki.answers.com/Q/Where_is_the_tension_pulley_on_a_1993_jeep_Cherokee#ixzz1G1MayEF3
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