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IMPORTANT WARNING: Unlocking your bootloader will delete ALL the data on the phone (ALL Partitions). Make sure you've backed up and transferred your data remotely first. This also voids your warranty.
Windows users may want to search for "Wug's Galaxy Nexus Root Toolkit" which can simplify this whole process.
Requirement Android SDK: The proper way to make sure you have the ADB utility is to install the Android SDK. For a good guide, see http://wiki.cyanogenmod.com/wiki/Howto:_Install_the_Android_SDK
Requirement Fastboot: a usually up-to-date link to The fastboot utility can be found via http://wiki.cyanogenmod.com/wiki/Fastboot