Do you have to pull the motor in a 1994 S-10 get oil pan off?

No, you generally do not have to remove the engine (pull the motor) from a 1994 S-10 to remove the oil pan. The oil pan is accessible from underneath the vehicle. However, it might require some maneuvering and potentially the removal of some other components (like the skid plate and possibly some suspension components depending on how much clearance you have).