Yes. The meaning is roughly the same. You can imagine the same action happening when you say either phrase. However, the work "yank" has a different nuance to it than "pull."
"Yank" means to pull forcefully, so it's a stronger kind of "pull" than just using the word "pull." If you just use the word "pull," than the listener can imagine any degree of strength behind that pull, but "yank" is clearly a strong, sometimes violent pulling action.
I hope this helps. Let me know if you need more help. Good luck in your studies!