1997 Nissan Pathfinder Wiper Motor broke or is it linkage?

1997 Nissan Pathfinder 6 cyl Four Wheel Drive Automatic

Ok I have a 1997 Nissan Pathfinder. Yesterday the wife attempted to use the wiper blades even though they were frozen to the window. When she started it, the motor made a "whirring" noise, like it was going to move them but nothing happened. After I freed them, I noticed that unless I "help" them along, the blades will not move.

Now if you try to work them, the first thing you notice is this whirring noise. Almost like something is trying to push them along. Now if you slightly nudge them then they "work". But when they get back to the original position, then the noise starts again until you nudge them. I am guess that the wiper motor somehow got fried but not all the way. ANyone have any ideas as to what might be happening? Thanks in advance.

I am thinking that perhaps it has something to do with the linkage. I am not sure BUT I do know that when the arms are nudged both arms go up. I am still thinking it might be the motor itself. I do not think that it would work at all if the motor itself was "busted". Still that whirring/grinding noise when I turn it on is the main thing.
1 hour ago

EDIT AGAIN

Ok another thing is this: If I make it so that the blades are not touching the windshield then they move AOK. SO that right there leads me to believe that it is not alinkage problem but rather a motor problem. But if I put them back in contact with the windshield, then I get the whirring/grinding noise which leads me to believe that the gears inside the motor are stripped but not totally. Does this make sense