To be certain, it's best to:
1. Consult your owner's manual: It will have a diagram showing the location of major components.
2. Use a repair manual: A Haynes or Chilton manual specific to your year and engine will provide detailed diagrams and descriptions.
3. Search online for diagrams: A Google image search for "2001 Chevy S10 secondary air pump location [your engine size]" might yield helpful pictures.
Because the location isn't completely standardized, visual confirmation is recommended.