If you can move the arms, it is the motor that has died, in all probability. If the arms can be moved, the linkage has fallen off the motor. There are 3 screws that hold it to the firewall, and 2 screws that clamp the linkage to the motor. If you need the motor repaired, check the recommended vendors forum. Don't attempt to take it apart yourself, since it is full of small pieces, and it is difficult to know where they all go once it is apart. The motor and washer are the same for a number of years, so you might be able to find a salvage yard unit. It costs about $200 to have it completely rebuilt. Stay away from the auto parts store rebuilds, since most often they are of poor quality, and expensive as well.