Either the nut is loose on the wiper, and the arm splines (in the die-cast) are stripped out, or the linkage fell apart. If the one wiper works, the motor is good. Don't run the wipers long this way, if the arm is loose, or you will wallow out the hole and destroy the arm.
Please make pictures if you can while replacing.
When I cleaned up behind the panels one of the bolts and nuts (#10?) broke of so you might first want to clean them and spray soak with oil to keep them ok.
the wiper motor on on the passenger side of the firewall, right next to the the wiper washer reservoir. there is only one motor. there is a wiper linkage, that connects the motor to both the right and left wiper. since one wiper works, the motor works, and the linkage is likely intact. suggest you remove the right wiper and see if the post turns when the wipers are on.