I was driving yesterday and my windshield wipers broke. The driver side wiper was hanging over my mirror and the passenger side one was touching the other one. I can move them by hand with the truck off.

 

Wipers do not shut off

 

The wiper blade fell off or the arm broke?

 

Reads like the "transmission" arm came off the motor

Year of Ranger can matter for this, but they are all basically the same
There are TWO inspection plates on the firewall to access the wiper arms, as the Cowl can not be removed
Picture here of one of the plates removed: https://i.ytimg.com/vi/QpuWDepEKs4/maxresdefault.jpg

Other one is on drivers side and a bit smaller
Wiper motor is in between the two inspection plates

You will need to pull off the plates and see what may have come off, parts can break of course but usually its just a nut or bolt that unscrewed