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The linkage that connects to motor shaft to the wiper blades uses a very small ball and cup setup. If you can hear the motor and a slight thud when the wipers are turned on, this would be the reason.
You are going to need to open up the cowl under the hood, remove the arms, then you can see where the wiper assembly connects to the shaft coming from the passenger side of the car. All you need to do is snap the cup from the motor drive shaft back onto the wiper assembly.
Reassemble the car, and you should be good to go.
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