I finally figured out where the technical objects for a Service Contract (or sales order) are stored. RIWOL is...
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a structure. It took me a while, but I did find the tables.
First, using the Sales Document # and Item #, get field OBKNR from table SER02.
Then using OBKNR, you can get the serial numbers (SERNR or EQUNR) from table OBJK.