You can find this diagram in a few places:
* Your owner's manual: It may have a diagram showing cylinder location.
* A Ford repair manual: These manuals are very detailed and will definitely show cylinder locations. (Haynes and Chilton manuals are readily available.)
* Online: Searching "2002 Ford Escape 3.0L V6 cylinder location diagram" should yield some helpful images.
Without a diagram, it's impossible to definitively say where cylinder #5 is. It will be on the rear of one of the cylinder banks.