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Hello and thank you for your question,Are you sure of your build date on this truck, the adjustable pedals where not used till 2002.?
Okay then you may have the late built unit. Either way there is a known concern with this , Ford has released a service bulletin dealing with it as well. The common caused for this is caused by a broken gear on the adjuster pedal drive shaft and Ford has has release a kit for repair it. I have enclosed the bulletin in the link below which includes the part numbers you heed for the kit. Copy and paste the link to your browser to open and view it. Looking it over it dose look like it applies and may very well be the problem you are having.https://dl.dropboxusercontent.com/u/104923897/adjustable%20pedals%20Mar%207.pdf
Your very welcome and thank you as well. Please take a moment to rate my service so I can get credit for my time, the question remains open for follow up even after doing so, all you need to do is return to this question if need be.Thank you again.