Thanks guys! Popped off the ball socket from the engine compartment side. Just align the two arms and tilt/ angle off the ball socket. Getting it back on was easier using large pliers to pop the ball back into the socket.
I have searched the forum for any info on removing the wiper motor from it's perch. Is there any way to do this without taking off the dash? Any shortcuts, or special contortionist arm movements to do this?