The wiper motor sits on a small 'shelf' behind/under the dash at the far left side of the cowl. It's mounted on four standoffs and should have rubber buffers to absorb vibrations (IIRC the standoffs have threads and nuts on both ends; it may be easier to remove top or bottom depending). The motor drives a semi-flexible shaft that drives the wipers with some right-angle gearing. You'll need to remove the wiper arms and the chrome bezels around their shafts, then get under the dash to remove four nuts on the bottoms (tops?) of the four standoffs, plus disconnect the wiring.
The motor has a small gearbox that should be packed with grease; the grease can harden and impair operation. If it's not that, it could be worn bushes or other problems in the motor. Check the switch--quite possibly the problem--and wiring before straining your back to get the motor out.