Try this

result <- summary(prcomp(USArrests))
names(result)
M <- result$importance
M[2,]

The "labels" are the dimnames of the "importance" matrix.  They only
"show up" when the matrix is printed.  If you wish, you can remove
them with dimnames(M) <- NULL.

-- 
Bjørn-Helge Mevik

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